WO2022210461A1 - Robot - Google Patents
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- WO2022210461A1 WO2022210461A1 PCT/JP2022/014785 JP2022014785W WO2022210461A1 WO 2022210461 A1 WO2022210461 A1 WO 2022210461A1 JP 2022014785 W JP2022014785 W JP 2022014785W WO 2022210461 A1 WO2022210461 A1 WO 2022210461A1
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- short
- long
- elongated
- fixed
- motor
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- 230000033001 locomotion Effects 0.000 claims abstract description 148
- 230000009471 action Effects 0.000 description 6
- 210000000245 forearm Anatomy 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Definitions
- the present invention relates to robots.
- Patent Literature 1 there has been known a robot including a first member (for example, an upper arm), a second member (for example, a forearm), and a joint that connects the two members to each other.
- a motor and a speed reducer are provided in the joint, and the driving force generated by the motor causes the second member to rotate with respect to the first member via the speed reducer.
- a motor is provided in the joint section to generate a driving force that causes relative rotation between the first member and the second member. Therefore, when the motor is driven with a load applied to the tip of the second member, which is the forearm, it is necessary to generate a large torque. In other words, it is necessary to generate large torque in order to generate torque in the vicinity of the relative rotation center of the first member and the second member. Therefore, in the robot disclosed in Patent Literature 1, it is necessary to use a motor that generates a large torque in anticipation of the load applied to the tip of the forearm.
- An object of the present invention is to cause relative rotation between the first member and the second member with a smaller torque.
- the present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a shape that extends in one direction, and the first member a linear motion electric motor having a long element arranged in a body and a short element movable along the long element; and a link member having one end coupled to the short member and the other end rotatably coupled to the short member, and the short member is moved relative to the long member by power supply to the linear motion motor.
- the second member is caused to generate a moment around the joint portion through the link member by causing the second member to generate a relative rotational movement between the first member and the second member.
- the present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a portion having a shape extending in one direction.
- a first linear motion motor having a first long element arranged on one member and a first short element relatively movable with respect to the first long element along the portion of the first long element a second long element having a portion extending along the second member; a second short element relatively movable with respect to the second long element along the portion of the second long element; and a link member having one end rotatably coupled to the first short element and the other end rotatably coupled to the second short element, wherein
- the first linear motion motor and the second linear motion motor By supplying power to the first linear motion motor and the second linear motion motor, the first short member moves relative to the first long member, and the second short member moves relative to the second long member. It is a robot which produces relative rotation operation between said 1st member and said 2nd member by relative movement.
- the present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a first short member arranged on the first member. and a first elongated element having a shape elongated in one direction and having a plurality of teeth arranged in the one direction and arranged on the first member, wherein the first short element and the base a first linear motion motor in which relative movement between one short element is allowed; a second long element having a portion extending along the second member and arranged on the second member; a second linear motor having a second short element that is relatively movable with respect to the second long element along the portion of the long element; and meshing with the plurality of teeth of the first long element.
- a pinion that is provided at the joint and rotates by movement of the first elongated element, a rotating member that has a tooth portion that meshes with the pinion and is fixed to the second member, and the first elongated element.
- a link member having one end rotatably coupled and the other end rotatably coupled to the second short element, wherein the first short element is fixed to the first member;
- the robot 10 As shown in FIG. 1, the robot 10 according to the first embodiment includes a first member 11, a second member 12, and a joint portion 13 that rotatably couples the first member 11 and the second member 12 to each other. , is equipped with Although both the first member 11 and the second member 12 are formed of arm-shaped members, they are not limited to this.
- the robot 10 may be configured, for example, as part of a humanoid robot, or as part of an articulated six-axis robot. If the robot 10 is part of a humanoid robot, for example, the first member 11 may constitute the upper arm and the second member 12 may constitute the forearm. Alternatively, the first member 11 may constitute the forearm and the second member 12 may constitute the upper arm.
- the first member 11 may constitute the trunk and the second member 12 may constitute the upper arm.
- the first member 11 may constitute the upper arm and the second member 12 may constitute the trunk.
- FIG. 1 illustrates a case where the first member 11 constitutes an upper arm and the second member 12 constitutes a forearm, and an end effector 14 is provided at the tip of the second member 12 .
- the joint portion 13 has a first portion (not shown) coupled to the first member 11 and a second portion coupled to the second member 12 .
- the first section and the second section are rotatably coupled to each other.
- a direct-acting motor 21 is arranged on the first member 11 .
- the linear motion motor 21 has a long element 21 a fixed to the first member 11 and a short element 21 b that moves with respect to the long element 21 a by the action of electromagnetic force accompanying power supply to the linear motion motor 21 .
- the elongated element 21 a has a shape linearly extending in one direction, and this extending direction passes through a position shifted from the rotation axis 13 a of the joint portion 13 .
- the elongated element 21a may be arranged so as to extend in the radial direction of the rotation axis 13a of the joint portion 13 so as to pass through the rotation axis 13a.
- the long element 21 a may be composed of a plurality of armatures 23 and the short element 21 b may be composed of a plurality of magnetic pole elements 24 .
- the long element 21 a may be composed of a plurality of magnetic pole elements 24 and the short element 21 b may be composed of a plurality of armatures 23 .
- a large number of armatures 23 having coils are arranged so as to line up in one direction, so that the elongated element 21a is formed in a shape extending along the direction in which the first member 11 extends. be.
- the short element 21b has a plurality of magnetic pole elements 24 arranged such that the N poles and the S poles are alternated.
- the direct-acting motor 21 having the configuration shown in FIG. 2 is composed of, for example, a brushless motor, an induction motor, or the like.
- the elongated element 21a has a configuration in which a large number of magnetic pole elements 24 are arranged in one direction with the N poles and S poles alternated.
- the short element 21b is configured to have a plurality of armatures 23 having coils. By supplying power to the armature 23, magnetic lines of force M are generated that pass through the magnetic pole piece 24 and the short piece 21b, causing the short piece 21b to slide along the long piece 21a.
- the direct-acting motor 21 having the configuration shown in FIG. 3 is configured by, for example, a DC motor or the like that supplies power through brushes (not shown).
- a fixed member 27 is fixed to the second member 12, and the robot 10 is provided with a link member 29 that connects the fixed member 27 and the short element 21b.
- the fixing member 27 includes a long portion 27a extending from the rotation axis 13a of the joint portion 13 along the radial direction of the rotation axis 13a, and a protruding portion protruding in the rotation direction from the radial outer end of the long portion 27a. 27b and are integrally formed.
- the elongated portion 27a is not limited to a shape extending linearly in the radial direction of the rotation axis 13a, and may be formed in a curved shape so as to deviate from the radial direction. In this case, the projecting portion 27b may be omitted. Moreover, even when the long portion 27a is formed in a straight line, the projecting portion 27b may be omitted.
- the link member 29 is configured by a rod-shaped member extending linearly, and one end of the link member 29 (second end 29b, which is the end on the second member 12 side) is the projecting portion 27b of the fixing member 27 . is rotatably coupled to the That is, the link member 29 is indirectly connected to the second member 12 .
- the other end of the link member 29 (first end 29a, which is the end on the first member 11 side) is rotatably coupled to the short member 21b. Note that if the projecting portion 27b is omitted, one end of the link member 29 is rotatably coupled to the elongated portion 27a of the fixing member 27. As shown in FIG.
- FIG. 4A in the first member 11 at the 12 o'clock position, the extension line of the long element 21a is shifted to the left side of the drawing with respect to the rotation axis 13a, and the outer end of the second member 12 is located at the long element 21a. (7 o'clock position). At this time, the short element 21b is positioned near the inner end of the long element 21a. In this state, when power is supplied to the linear motor 21 so as to move the short element 21b radially inward along the long element 21a, the angle formed by the first member 11 and the second member 12 is 180 degrees. A moment around the joint portion 13 is generated in the second member 12 via the link member 29 in the direction of approaching . As a result, the second member 12 rotates counterclockwise from the state shown in FIG. 4A.
- the second member 12 When the short element 21b reaches the inner end of the long element 21a, the second member 12 is oriented about 180 degrees with respect to the first member 11. At this time, the power supply of the linear motion motor 21 is controlled so that the short element 21b moves radially outward. As a result, the short element 21b begins to slide radially outward along the long element 21a. At this time as well, the second member 12 continues to rotate counterclockwise. When the short element 21b slides further, the second member 12 can take the posture shown in FIG. 4B (4 o'clock position) and the posture shown in FIG. 4C (2 o'clock position). At this time, the second end portion 29b of the link member 29 draws a circular locus t1 (see FIG.
- the long element 21a, the short element 21b, the fixing member 27, and the link member 29 constitute a crank mechanism that converts motion between reciprocating linear motion and circular motion.
- the direct-acting electric motor 21 having the elongated member 21 a arranged on the first member 11 , so that the second member 12 rotates the joint portion 13 via the link member 29 . to produce a relative pivoting motion between the first member 11 and the second member 12 . Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion 13, relative rotational movement between the first member 11 and the second member 12 can be generated with a smaller torque. Moreover, since the direct-acting motor 21 is arranged in the first member 11 and is not housed in the joint portion 13, an increase in the size of the joint portion 13 can be avoided.
- the robot 10 shown in FIG. 1 has the fixing member 27 fixed to the second member 12 and the second end 29b of the link member 29 is coupled to the fixing member 27, the configuration is not limited to this.
- the fixing member 27 may be omitted and the second end 29b of the link member 29 may be directly coupled to the second member 12.
- the fixing member 27 has an inwardly extending portion 27c extending from the projecting portion 27b toward the joint portion 13, and the link member 29 is provided at the tip of the inwardly extending portion 27c. They may be rotatably connected. In this case, the radius of the circular locus t1 drawn by the second end portion 29b of the link member 29 can be reduced. Therefore, the ratio of the rotation angle to the amount of sliding of the short element 21b can be increased.
- the fixing member 27 has the inwardly extending portion 27c
- a configuration in which the protruding portion 27b protrudes in the rotation direction from the inner end portion of the long portion 27a or the vicinity of the inner end portion may be employed.
- FIGS. 6A-6C show a second embodiment.
- the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
- the fixed member 27 is configured by a member fixed to the second member 12, whereas in the second embodiment, the fixed member 27 is provided on the second member 12.
- the second long member 33 extends in a direction crossing the direction in which the second long member 31a extends.
- the second direct-acting motor 31 moves along the second elongated element 31a due to the action of the second elongated element 31a fixed to the second member 12 and the electromagnetic force accompanying the power supply to the second linear-acting motor 31. and a second short element 31b.
- the second linear motion motor 31 has the same configuration as the linear motion motor 21 shown in FIG. 1, and has a plurality of armatures and a plurality of magnetic poles.
- the long element 21a of the linear motion motor 21 is arranged so as to extend in the radial direction of the rotation axis 13a so as to pass through the rotation axis 13a of the joint portion 13.
- a first An elongated member 35 is fixed.
- the elongated element 21a may be arranged so that its extension line passes through a position shifted from the rotation axis 13a, and in this case, the first elongated element member 35 may be omitted.
- the second elongated element 31a also has the same configuration as the elongated element 21a. That is, the second long member 31a is arranged to extend in the radial direction of the rotation axis 13a, and the second long member 33 is fixed to one end of the second long member 31a.
- the second elongated member 31a may be arranged so that its extension line passes through a position shifted from the rotation axis 13a, and in this case, the second elongated member 33 may be omitted.
- a first end 29a of the link member 29 (the end on the first member 11 side) is rotatably coupled to the short element 21b of the linear motion motor 21, and a second end 29b of the link member 29 (the second member 12 side) is rotatably coupled to the second elongated member 33 .
- the connecting position between the first end portion 29a of the link member 29 and the short element 21b is arranged so that the extension of the displacement locus t3 when the short element 21b is slid passes through a position shifted from the rotation axis 13a.
- the extension of the displacement locus t3 may be arranged to pass through the rotation axis 13a.
- the second end portion 29 b of the link member 29 may be coupled to the second member 12 or may be coupled to the second elongated element 31 a of the second linear motion motor 31 .
- the second end portion 29b is arranged at a position shifted from the extension line of the second long element 31a, but may be arranged on the extension line of the second long element 31a.
- a second link member 37 is provided in addition to the link member 29 in the robot 10 of the second embodiment.
- One end of the second link member 37 (second end 37b, which is the end on the second member 12 side) is rotatably coupled to the second short member 31b.
- the connecting position between the second end portion 37b of the second link member 37 and the second short element 31b is the position where the extension of the displacement locus t4 during sliding of the second short element 31b deviates from the rotation axis 13a.
- the extension line of the displacement locus t4 may be arranged so as to pass through the rotation axis 13a.
- the other end of the second link member 37 (the first end 37a that is the end on the first member 11 side) is rotatably coupled to the first long member 35 .
- the first end portion 37 a of the second link member 37 may be coupled to the first member 11 or may be coupled to the elongated member 21 a of the linear motion motor 21 .
- the first end portion 37a is arranged at a position shifted from the extension line of the long element 21a, but may be arranged on the extension line of the long element 21a.
- the linear motion motor 21 and the second linear motion motor 31 are interlocked. That is, the linear motion motor 21 and the second linear motion motor 31 are driven simultaneously when the first member 11 and the second member 12 are relatively rotated.
- the timing at which the short element 21b reverses the sliding direction and the timing at which the second short element 31b reverses the sliding direction are different from each other. That is, the timing at which the link member 29 and the second long member 33 are aligned (the timing at which the second short member 31b passes through the dead center) and the timing at which the second link member 37 and the first long member 35 are aligned. (the timing at which the short element 21b passes through the dead center) is different from each other. Therefore, even when one of the link member 29 and the second link member 37 is dead center, the moment around the joint portion 13 can be continuously generated.
- FIG. 6A shows a state in which the first member 11 and the second member 12 are substantially aligned (approximately 180 degrees).
- the scale 21b and the second short scale 31b are slid away from the joint 13.
- a moment around the joint portion 13 is generated in the first member 11 and the second member 12 in the direction in which the angle formed by the elongated member 21a and the second elongated member 31a becomes smaller.
- a relative pivotal movement between the members 12 is produced. 6B.
- the posture is further rotated from this posture, the second link member 37 and the first long member 35 first become straight, so that the second short member 31b is positioned at the dead point. Become.
- the link member 29 and the second elongated member 33 have not yet formed a straight line, so the first member 11 and the second member 12 continue to generate a moment around the joint portion 13 . Therefore, the relative rotational movement between the first member 11 and the second member 12 continues.
- the power of the second direct-acting motor 31 is controlled so that the sliding direction of the second short member 31b is reversed when the second link member 37 and the first long member 35 are aligned.
- the linear motion motor 21 and the second linear motion motor 31 are used to cause the relative rotational movement between the first member 11 and the second member 12, the linear motion motors 21 and 31 are Torque can be further suppressed, and the direct-acting motor 21 can be made more compact.
- the timing at which the short element 21b passes through the dead point and the timing at which the second short element 31b passes through the dead point are different from each other. That is, the second short element 31b is not at the dead point at the timing when the short element 21b passes through the dead center. Moreover, the short element 21b is not at the dead point at the timing when the second short element 31b passes through the dead point. Therefore, even when the short element 21b is at the dead point, the rotation operation between the first member 11 and the second member 12 via the link member 29 can be continued, and the second short element 31b is at the dead point. , the rotational movement between the first member 11 and the second member 12 via the second link member 37 can be continued. Therefore, the rotating motion between the first member 11 and the second member 12 can be a series of continuous motions.
- FIG. 7A and 7B show a third embodiment.
- the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
- a robot 40 of the third embodiment includes a first linear motion motor 21, a second linear motion motor 31, and a link member 42.
- the first linear motion motor 21 is driven by a first elongated member 21 a fixed to the first member 11 and by the action of an electromagnetic force associated with power supply to the first linear motion motor 21 . and a first short element 21b that moves along the long element 21a.
- the first linear motion motor 21 has a configuration similar to that of the linear motion motor 21 shown in FIG.
- the first elongated element 21a has a shape extending linearly in one direction, and the direction in which the first elongated element 21a extends may pass through the rotation axis 13a of the joint section 13, or may deviate from the rotation axis 13a. may be
- the second linear motion motor 31 is driven by a second elongated member 31 a fixed to the second member 12 and by the action of the electromagnetic force associated with power supply to the second linear motion motor 31 . and a second short element 31b that moves along the long element 31a.
- the second linear motion motor 31 has the same configuration as the linear motion motor 21 shown in FIG. 1, and has a plurality of armatures and a plurality of magnetic poles.
- the second long element 31a has a shape that extends linearly in one direction, and the direction in which the second long element 31a extends may pass through the rotation axis 13a of the joint portion 13, or may deviate from the rotation axis 13a. may be
- the link member 42 connects the first short element 21b and the second short element 31b to each other. That is, the first end portion 42a of the link member 42 (the end portion on the first member 11 side) is rotatably coupled to the first short element 21b, and the second end portion 42b of the link member 42 (the second member 12 side end) is rotatably coupled to the second short element 31b.
- the first linear motion motor 21 and the second linear motion motor 31 are interlocked. That is, the first direct-acting motor 21 and the second direct-acting motor 31 are simultaneously driven when the first member 11 and the second member 12 perform the relative rotation motion.
- the first short element 21b and the second short element 31b are slid in the direction away from the joint part 13
- the first member 11 and the second long element 31a move in the direction of decreasing the angle formed by the first long element 21a and the second long element 31a.
- a moment around the joint portion 13 is generated in the member 12 . This causes a relative pivotal movement between the first member 11 and the second member 12, changing the posture shown in FIG. 7A to the posture shown in FIG. 7B.
- the first linear motion motor 21 and the second linear motion motor 31 when power is supplied to the first linear motion motor 21 and the second linear motion motor 31 to slide the first short member 21b and the second short member 31b, the first member 11 is moved by the link member 42. A force acts to change the opening angle between and the second member 12 , thereby causing a relative pivotal movement between the first member 11 and the second member 12 . Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion 13, relative rotational movement between the first member 11 and the second member 12 can be generated with a smaller torque.
- the linear motion motor 21 is arranged in the first member 11 and the second linear motion motor 31 is arranged in the second member 12, so that the two linear motion motors 21 and 31 are accommodated in the joint portion 13. Since it is not a structure, an increase in size of the joint portion 13 can be avoided.
- FIGS 8A and 8B show a fourth embodiment.
- the same reference numerals are given to the same components as in the third embodiment, and detailed description thereof will be omitted.
- the first elongated element 21a is fixed to the first member 11 so as not to be displaced with respect to the first member 11, and the second elongated element 31a is displaced with respect to the second member 12. It is fixed to the second member 12 so that it does not.
- the first long element 21a is arranged slidably with respect to the first member 11, and the second long element 31a is slidably arranged with respect to the second member 12. are placed. That is, the first long element 21a is supported by the first member 11 so as to be displaceable in the extending direction of the first long element 21a, and the second long element 31a is displaceable in the extending direction of the second long element 31a. It is supported by the second member 12 .
- the first member 11 has a first elongated member 21a that allows movement in the extending direction of the first elongated member 21a while preventing the first elongated member 21a from moving in a direction orthogonal to the extending direction of the first elongated member 21a.
- 1 guide 45 is provided.
- the second member 12 allows the second long element 31a to move in the extending direction of the second long element 31a while preventing it from moving in the direction orthogonal to the extending direction of the second long element 31a.
- a second guide portion 46 is provided for.
- the first elongated element 21a and the second elongated element 31a have a plurality of teeth 21c, 31c arranged in the longitudinal direction.
- a pinion 47 that meshes with the teeth 21c of the first elongated element 21a and the teeth 31c of the second elongated element 31a is provided in the joint 13 so as to be concentric with the rotation axis 13a.
- the pinion 47 is freely rotatable.
- the first short member 21b is provided with a first short member brake 49 for temporarily fixing the first short member 21b to the first member 11, and the second short member 31b is provided with a second short member.
- a second short member brake 50 is provided to temporarily fix 31b to the second member 12 . That is, the first short member brake 49 is configured to switch between a state in which the first short member 21b is fixed to the first member 11 and a state in which it is not fixed.
- the second short element brake 50 is configured to switch between a state in which the second short element 31b is fixed to the second member 12 and a state in which it is not fixed.
- the first long piece 21a is provided with a first long piece brake 51 for temporarily fixing the first long piece 21a to the first member 11, and the second long piece 31a is provided with a second long piece.
- a second elongated brake 52 is provided to temporarily fix 31 a to the second member 12 . That is, the first elongated element brake 51 is configured to switch between a state in which the first elongated element 21 a is fixed to the first member 11 and a state in which it is not fixed.
- the second long element brake 52 is configured to switch between a state in which the second long element 31 a is fixed to the second member 12 and a state in which it is not fixed.
- the first long element brake 51 operates to fix the first long element 21 a to the first member 11
- the first short element brake 49 does not operate so that the first short element 21 b is fixed to the first member 11
- the second long element brake 52 is actuated to fix the second long element 31a to the second member 12, and the second short element brake 50 is not actuated so that the second short element 31a is fixed to the second member 12.
- the robot 40 of the fourth embodiment performs the same motion as the robot 40 of the third embodiment. Therefore, when the first short element 21b and the second short element 31b slide away from the joint 13, the second member 12 slides relative to the first member 11 as shown in FIGS. 8A and 8B. A relative pivotal movement between the first member 11 and the second member 12 occurs in the bending direction.
- a moment is generated in the first member 11 and the second member 12 via the link member 42 to rotate around the joint portion 13 .
- a force that presses the second short element 31b against the link member 42 acts. Therefore, as the reaction force, a force including a component that pushes the second long element 31a downward in FIG. 8A is generated. Therefore, the second member 12 rotates clockwise from the state shown in FIG. 8A. As a result, the robot 40 is in the state shown in FIG. At this time, since the first long element 21a and the second long element 31a are slid with respect to the state shown in FIG. 8A, the movement range of the first short element 21b and the second short element 31b is widened.
- the movement range of the first short element 21b can be widened by sliding the first long element 21a in the longitudinal direction and sliding the second long element 31a in the longitudinal direction. Therefore, the relative rotation range between the first member 11 and the second member 12 can be widened.
- (Fifth embodiment) 10A-10C show a fifth embodiment.
- the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
- the first short element 21b and the second short element 31b are connected to each other by the link member 42, and the second member is moved by sliding the first short element 21b and the second short element 31b. 12 is caused to generate a moment around the joint portion 13 .
- This operation is the same for the robot 60 of the fifth embodiment.
- the rotating member 64 fixed to the second member 12 is rotated by the pinion 62 rotated by sliding the first elongated member 21a of the first direct-acting motor 21.
- a relative pivotal movement between the first member 11 and the second member 12 can also be produced by .
- the first elongated element 21a is not fixed to the first member 11, and the first elongated element 21a is attached to the first member 11 as in the fourth embodiment. It is arranged so as to be slidable in the extending direction of 21a.
- the first long piece 21 a is provided with a long piece brake 51 that temporarily fixes the first long piece 21 a to the first member 11 .
- a plurality of teeth 21c arranged in the extending direction are provided on the first elongated member 21a.
- the first short member 21 b is provided with a short member brake 49 that temporarily fixes the first short member 21 b to the first member 11 .
- a pinion 62 is rotatably provided on the first member 11 so as to mesh with the teeth 21c of the first elongated element 21a, and the pinion 62 rotates as the first elongated element 21a slides.
- a rotating member 64 having an arc-shaped outer peripheral portion is provided in the joint portion 13 , and a tooth portion 64 a that meshes with the pinion 62 is formed on the outer peripheral portion of the rotating member 64 .
- the first direct-acting motor 21 when power is supplied to the first direct-acting motor 21 with the short element brake 49 operating and the long element brake 51 not operating, the first long element 21a slides relative to the first short element 21b. As a result, the pinion 62 rotates. At this time, it is not necessary to supply power to the second direct-acting motor 31 .
- the rotating member 64 rotates about the rotation axis 13 a of the joint portion 13 , so that the second member 12 rotates relative to the first member 11 . Therefore, the second member 12 can be rotated from the state of FIG. 10A to the state of FIG. 10B.
- the first short element 21b is actuated to the first position. While sliding relative to the long element 21a, the second short element 31b slides relative to the second long element 31a. In this case, the second member 12 is rotated relative to the first member 11 based on the same principle as in the third embodiment. Therefore, the second member 12 can be rotated from the state of FIG. 10A to the state of FIG. 10C.
- the second member 12 when power is supplied to the first direct-acting motor 21 with the first short element 21 b fixed to the first member 11 , the second member 12 is driven through the pinion 62 and the rotating member 64 . A moment around the joint portion 13 is generated at this point, and a relative rotational movement between the first member 11 and the second member 12 is generated. Further, when power is supplied to the first direct-acting motor 21 and the second direct-acting motor 31 in a state in which the first long element 21a is fixed to the first member 11 and the first short element 21b is not fixed, the first A moment around the joint portion 13 is generated in the second member 12 via the link member 42 due to the sliding of the short member 21b and the second short member 31b. action occurs.
- the first linear motion motor 21 is arranged in the first member 11 and is not accommodated in the joint portion 13, and the second linear motion motor 31 is arranged in the second member 12 and is not accommodated in the joint portion. Since it is not configured to be accommodated within 13, an increase in size of the joint portion 13 can be avoided.
- the present invention provides a first member, a second member, a joint portion that couples the first member and the second member so as to be able to rotate relative to each other, and a joint extending in one direction.
- a linear motion electric motor having a long member arranged on the first member and a short member movable along the long member; a link member having one end that is directly or indirectly coupled to the two members and the other end that is rotatably coupled to the short element; By moving the short member with respect to, a moment around the joint portion is generated in the second member via the link member, and a relative rotational movement between the first member and the second member It is a robot that creates
- the second member by supplying power to the linear motion motor having the elongated element arranged in the first member, the second member is caused to generate a moment around the joint portion via the link member, thereby causing the first and second members to move. causing a relative pivoting motion between the Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion, it is possible to cause relative rotational movement between the first member and the second member with smaller torque.
- the direct-acting motor is arranged in the first member and is not housed in the joint portion, it is possible to avoid an increase in the size of the joint portion.
- a fixing member having a shape extending in one direction may be fixed to the second member.
- the one end of the link member may be rotatably coupled to the fixed member.
- the link member is rotatably coupled to the fixed member extending in one direction, it is suitable for a robot in which the second member is configured as an arm, for example.
- the fixed member is composed of the second long element of the second linear motion motor having a second long element and a second short element, or is composed of a second long element fixed to the second long element.
- the second terminal has one end rotatably connected to the second short element and the other end rotatably connected to the long element or the first long element member fixed to the long element.
- a link member is provided, and by moving the short member along the long member by supplying power to the linear motion motor, a moment around the joint portion is generated in the second member via the link member. and moving the second short element along the second long element by supplying power to the second direct-acting motor to move the joint portion to the first member via the second link member. A rotational moment may be induced thereby causing relative pivotal movement between the first member and the second member.
- the linear motion motor and the second linear motion motor are used to cause the relative rotational movement between the first member and the second member, the torque of each linear motion motor can be further suppressed,
- the dynamic motor can be made more compact.
- the timing at which the short element passes through the dead center may be set so as to deviate from the timing at which the second short element passes through the dead center.
- the second short element is not at the dead point at the timing when the short element passes through the dead center. Also, the short element is not at the dead point at the timing when the second short element passes through the dead point. Therefore, even when the short member is at the dead center position, the rotation between the first member and the second member can be continued via the link member, and when the second short member is at the dead center position. However, the pivoting motion between the first member and the second member can be continued via the second link member. Therefore, the pivoting motion between the first member and the second member can be a series of continuous motions.
- the present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a portion having a shape extending in one direction.
- a first linear motion motor having a first long element arranged on one member and a first short element relatively movable with respect to the first long element along the portion of the first long element a second long element having a portion extending along the second member; a second short element relatively movable with respect to the second long element along the portion of the second long element; and a link member having one end rotatably coupled to the first short element and the other end rotatably coupled to the second short element, wherein
- the first linear motion motor and the second linear motion motor By supplying power to the first linear motion motor and the second linear motion motor, the first short member moves relative to the first long member, and the second short member moves relative to the second long member. It is a robot which produces relative rotation operation between said 1st member and said 2nd member by relative movement.
- the opening angle between the first member and the second member is determined by the link member.
- a force acts to alter the , thereby causing relative pivotal movement between the first and second members. Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion, it is possible to generate relative rotational movement between the first member and the second member with smaller torque.
- the linear motion motor is arranged in the first member and the second linear motion motor is arranged in the second member, and the two linear motion motors are not housed in the joint portion, the joint portion is large. can also be avoided.
- the robot includes a first short element brake capable of switching between a state in which the first short element is fixed to the first member and a state in which it is not fixed, and a state in which the second short element is fixed to the second member.
- a second short member brake capable of switching between a fixed state and a non-fixed state may be further provided.
- the first elongated element may be supported displaceably in the extending direction of the first elongated element, and the second elongated element may be displacedly supported in the extending direction of the second elongated element. good.
- the range of movement of the first short element when the first long element slides in the longitudinal direction, the range of movement of the first short element can be expanded accordingly, and when the second long element slides in the longitudinal direction, the second short element can move accordingly. You can extend the movement range of the shakushi. Therefore, the relative rotation range between the first member and the second member can be widened.
- the first elongated element and the second elongated element may have a plurality of teeth aligned in the longitudinal direction.
- a pinion meshing with the plurality of teeth of the first elongated element and the plurality of teeth of the second elongated element may be provided.
- the relationship between the amount of sliding of the first long element with respect to the first member and the amount of sliding of the second long element with respect to the second member can be defined by the pinion.
- the present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a first short member arranged on the first member. and a first elongated element having a shape elongated in one direction and having a plurality of teeth arranged in the one direction and arranged on the first member, wherein the first short element and the base a first linear motion motor in which relative movement between one short element is allowed; a second long element having a portion extending along the second member and arranged on the second member; a second linear motor having a second short element that is relatively movable with respect to the second long element along the portion of the long element; and meshing with the plurality of teeth of the first long element.
- a pinion that is provided at the joint and rotates by movement of the first elongated element, a rotating member that has a tooth portion that meshes with the pinion and is fixed to the second member, and the first elongated element.
- a link member having one end rotatably coupled and the other end rotatably coupled to the second short element, wherein the first short element is fixed to the first member;
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Abstract
This robot comprises: a first member; a second member; a joint part; a linear motor having a long element having a shape extending in one direction, and a short element which can move along the long element; and a link member having a second end section rotatably coupled to the second member and a first end section rotatably coupled to the short element. The robot generates a moment around the joint part to the second member via the link member by causing the short element to move due to the power supply to the linear motor, and thereby generates relative rotation movements of the first member and the second member.
Description
本発明は、ロボットに関する。
The present invention relates to robots.
従来、下記特許文献1に開示されているように、第1部材(例えば上腕)と、第2部材(例えば前腕)と、両部材を互いに連結する関節部と、を備えたロボットが知られている。関節部には、モータ及び減速機が設けられており、モータの発生する駆動力により、減速機を介して第1部材に対する第2部材の回転動作が生じる。
Conventionally, as disclosed in Patent Literature 1 below, there has been known a robot including a first member (for example, an upper arm), a second member (for example, a forearm), and a joint that connects the two members to each other. there is A motor and a speed reducer are provided in the joint, and the driving force generated by the motor causes the second member to rotate with respect to the first member via the speed reducer.
前記特許文献1に開示されたロボットでは、第1部材及び第2部材間の相対回動を生じさせる駆動力を発生するモータが関節部に設けられている。このため、前腕である第2部材の先端に負荷がかかっている状態でモータを駆動するような場合には、大きなトルクを発生させる必要がある。つまり、第1部材及び第2部材の相対回転中心の近傍でトルクを発生させるため、大きなトルクを生じさせる必要がある。したがって、特許文献1に開示されたロボットでは、前腕の先端にかかる負荷を想定して、大きなトルクを発生させるモータを用いる必要がある。
In the robot disclosed in Patent Literature 1, a motor is provided in the joint section to generate a driving force that causes relative rotation between the first member and the second member. Therefore, when the motor is driven with a load applied to the tip of the second member, which is the forearm, it is necessary to generate a large torque. In other words, it is necessary to generate large torque in order to generate torque in the vicinity of the relative rotation center of the first member and the second member. Therefore, in the robot disclosed in Patent Literature 1, it is necessary to use a motor that generates a large torque in anticipation of the load applied to the tip of the forearm.
本発明の目的は、より小さなトルクで第1部材及び第2部材間の相対的な回動を生じさせることにある。
An object of the present invention is to cause relative rotation between the first member and the second member with a smaller torque.
本発明は、第1部材と、第2部材と、前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、一方向に延びる形状であって前記第1部材に配置される長尺子と、前記長尺子に沿って移動可能な短尺子と、を有する直動電動機と、前記第2部材に対して回動可能に且つ前記第2部材に直接的又は間接的に結合する一端部と、前記短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、前記直動電動機への電力供給によって前記長尺子に対して前記短尺子を移動させることにより、前記リンク部材を介して前記第2部材に前記関節部回りのモーメントを生じさせ、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボットである。
The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a shape that extends in one direction, and the first member a linear motion electric motor having a long element arranged in a body and a short element movable along the long element; and a link member having one end coupled to the short member and the other end rotatably coupled to the short member, and the short member is moved relative to the long member by power supply to the linear motion motor. In the robot, the second member is caused to generate a moment around the joint portion through the link member by causing the second member to generate a relative rotational movement between the first member and the second member.
本発明は、第1部材と、第2部材と、前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、一方向に延びる形状の部位を有し前記第1部材に配置される第1長尺子と、前記第1長尺子における前記部位に沿って前記第1長尺子に対して相対的に移動可能な第1短尺子と、を有する第1直動電動機と、前記第2部材に沿って延びる部位を有する第2長尺子と、前記第2長尺子における前記部位に沿って前記第2長尺子に対して相対的に移動可能な第2短尺子と、を有する第2直動電動機と、前記第1短尺子に回動可能に結合する一端部と前記第2短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、前記第1直動電動機及び前記第2直動電動機への電力供給によって、前記第1短尺子が前記第1長尺子に対して相対移動するとともに前記第2短尺子が前記第2長尺子に対して相対移動することにより、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボットである。
The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a portion having a shape extending in one direction. A first linear motion motor having a first long element arranged on one member and a first short element relatively movable with respect to the first long element along the portion of the first long element a second long element having a portion extending along the second member; a second short element relatively movable with respect to the second long element along the portion of the second long element; and a link member having one end rotatably coupled to the first short element and the other end rotatably coupled to the second short element, wherein By supplying power to the first linear motion motor and the second linear motion motor, the first short member moves relative to the first long member, and the second short member moves relative to the second long member. It is a robot which produces relative rotation operation between said 1st member and said 2nd member by relative movement.
本発明は、第1部材と、第2部材と、前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、前記第1部材に配置される第1短尺子と、一方向に長い形状で且つ前記一方向に配列された複数の歯部を有し且つ前記第1部材に配置される第1長尺子と、を有し、前記第1短尺子及び前記台1短尺子間の相対的な移動が許容されている第1直動電動機と、前記第2部材に沿って延びる部位を有し前記第2部材に配置される第2長尺子と、前記第2長尺子における前記部位に沿って前記第2長尺子に対して相対的に移動可能な第2短尺子と、を有する第2直動電動機と、前記第1長尺子の前記複数の歯部に噛み合うように前記関節部に設けられ、前記第1長尺子の移動によって回転するピニオンと、前記ピニオンに噛み合う歯部を有するとともに前記第2部材に固定された回動部材と、前記第1長尺子に回動可能に結合する一端部と前記第2短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、前記第1短尺子が前記第1部材に固定された状態で前記第1直動電動機に電力が供給されたときには、前記第1長尺子を前記第1短尺子に対して移動させて、前記ピニオン及び前記回動部材を介して前記第2部材に前記関節部回りのモーメントを生じさせ、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせ、前記第1長尺子が前記第1部材に固定されるともに前記第2長尺子が前記第2部材に固定された状態で前記第1直動電動機及び第2直動電動機に電力が供給されたときには、前記第1短尺子を前記第1長尺子に対して移動させるとともに前記第2短尺子を前記第2長尺子に対して移動させて、前記リンク部材を介して前記第2部材に関節部回りのモーメントを生じさせて前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボットである。
The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a first short member arranged on the first member. and a first elongated element having a shape elongated in one direction and having a plurality of teeth arranged in the one direction and arranged on the first member, wherein the first short element and the base a first linear motion motor in which relative movement between one short element is allowed; a second long element having a portion extending along the second member and arranged on the second member; a second linear motor having a second short element that is relatively movable with respect to the second long element along the portion of the long element; and meshing with the plurality of teeth of the first long element. A pinion that is provided at the joint and rotates by movement of the first elongated element, a rotating member that has a tooth portion that meshes with the pinion and is fixed to the second member, and the first elongated element. a link member having one end rotatably coupled and the other end rotatably coupled to the second short element, wherein the first short element is fixed to the first member; When power is supplied to the first direct-acting motor, the first long member is moved with respect to the first short member, and the joint portion is moved to the second member via the pinion and the rotating member. creating a moment of rotation to create a relative pivoting motion between the first member and the second member, the first elongated member being fixed to the first member and the second elongated member being the When power is supplied to the first linear motion motor and the second linear motion motor while being fixed to the second member, the first short member is moved relative to the first long member and the second short member is moved. By moving the scale with respect to the second elongated member, a moment around the joint portion is generated in the second member via the link member, and the relative rotation between the first member and the second member is performed. It is a robot that produces motion.
以下、添付図面を参照しながら、実施の形態について説明する。なお、以下の実施の形態は、本発明を具体化した一例であって、本発明の技術的範囲を限定する性格のものではない。
Embodiments will be described below with reference to the accompanying drawings. It should be noted that the following embodiment is an example that embodies the present invention, and is not intended to limit the technical scope of the present invention.
(第1実施形態)
図1に示すように、第1実施形態に係るロボット10は、第1部材11と、第2部材12と、第1部材11及び第2部材12を互いに回動可能に結合する関節部13と、を備えている。第1部材11及び第2部材12は何れもアーム状の部材によって形成されているが、これに限られるものではない。ロボット10は、例えば、人型ロボットの一部分として構成されてもよく、あるいは多関節6軸ロボットの一部分として構成されてもよい。ロボット10が人型ロボットの一部分である場合には、例えば第1部材11が上腕を構成するとともに第2部材12が前腕を構成してもよい。また、第1部材11が前腕を構成するとともに第2部材12が上腕を構成してもよい。また、第1部材11が胴体を構成するとともに第2部材12が上腕を構成してもよい。また、第1部材11が上腕を構成するとともに第2部材12が胴体を構成してもよい。図1は、第1部材11が上腕を構成し、第2部材12が前腕を構成した場合を図示しており、第2部材12の先端にはエンドエフェクタ14が設けられている。 (First embodiment)
As shown in FIG. 1, therobot 10 according to the first embodiment includes a first member 11, a second member 12, and a joint portion 13 that rotatably couples the first member 11 and the second member 12 to each other. , is equipped with Although both the first member 11 and the second member 12 are formed of arm-shaped members, they are not limited to this. The robot 10 may be configured, for example, as part of a humanoid robot, or as part of an articulated six-axis robot. If the robot 10 is part of a humanoid robot, for example, the first member 11 may constitute the upper arm and the second member 12 may constitute the forearm. Alternatively, the first member 11 may constitute the forearm and the second member 12 may constitute the upper arm. Alternatively, the first member 11 may constitute the trunk and the second member 12 may constitute the upper arm. Alternatively, the first member 11 may constitute the upper arm and the second member 12 may constitute the trunk. FIG. 1 illustrates a case where the first member 11 constitutes an upper arm and the second member 12 constitutes a forearm, and an end effector 14 is provided at the tip of the second member 12 .
図1に示すように、第1実施形態に係るロボット10は、第1部材11と、第2部材12と、第1部材11及び第2部材12を互いに回動可能に結合する関節部13と、を備えている。第1部材11及び第2部材12は何れもアーム状の部材によって形成されているが、これに限られるものではない。ロボット10は、例えば、人型ロボットの一部分として構成されてもよく、あるいは多関節6軸ロボットの一部分として構成されてもよい。ロボット10が人型ロボットの一部分である場合には、例えば第1部材11が上腕を構成するとともに第2部材12が前腕を構成してもよい。また、第1部材11が前腕を構成するとともに第2部材12が上腕を構成してもよい。また、第1部材11が胴体を構成するとともに第2部材12が上腕を構成してもよい。また、第1部材11が上腕を構成するとともに第2部材12が胴体を構成してもよい。図1は、第1部材11が上腕を構成し、第2部材12が前腕を構成した場合を図示しており、第2部材12の先端にはエンドエフェクタ14が設けられている。 (First embodiment)
As shown in FIG. 1, the
関節部13は、第1部材11に結合される第1部位(図示省略)と、第2部材12に結合される第2部位とを有する。第1部位と第2部位とは互いに回転可能に結合されている。
The joint portion 13 has a first portion (not shown) coupled to the first member 11 and a second portion coupled to the second member 12 . The first section and the second section are rotatably coupled to each other.
第1部材11には、直動電動機21が配置されている。直動電動機21は、第1部材11に固定された長尺子21aと、直動電動機21への電力供給に伴う電磁気力の作用によって長尺子21aに対して移動する短尺子21bと、を有する。長尺子21aは、一方向に直線状に延びる形状であり、この延びる方向は、関節部13の回転軸心13aからずれた位置を通過している。ただしこれに限られるものではなく、長尺子21aは、関節部13の回転軸心13aを通過するように、回転軸心13aの半径方向に延びるように配置されていてもよい。
A direct-acting motor 21 is arranged on the first member 11 . The linear motion motor 21 has a long element 21 a fixed to the first member 11 and a short element 21 b that moves with respect to the long element 21 a by the action of electromagnetic force accompanying power supply to the linear motion motor 21 . The elongated element 21 a has a shape linearly extending in one direction, and this extending direction passes through a position shifted from the rotation axis 13 a of the joint portion 13 . However, it is not limited to this, and the elongated element 21a may be arranged so as to extend in the radial direction of the rotation axis 13a of the joint portion 13 so as to pass through the rotation axis 13a.
図2に示すように、長尺子21aが複数の電機子23によって構成され、短尺子21bは複数の磁極子24によって構成されてもよい。あるいは、図3に示すように、長尺子21aが複数の磁極子24によって構成され、短尺子21bは複数の電機子23によって構成されてもよい。
As shown in FIG. 2 , the long element 21 a may be composed of a plurality of armatures 23 and the short element 21 b may be composed of a plurality of magnetic pole elements 24 . Alternatively, as shown in FIG. 3 , the long element 21 a may be composed of a plurality of magnetic pole elements 24 and the short element 21 b may be composed of a plurality of armatures 23 .
図2に示す構成では、図略のコイルを有する多数の電機子23が一方向に並ぶように配置されることにより、長尺子21aは第1部材11の延びる方向に沿って延びる形状に形成される。短尺子21bは、N極とS極が互い違いになるように配置された複数の磁極子24を有する構成となっている。電機子23への給電により、磁極子24及び短尺子21bを通る磁力線が生じ、これにより短尺子21bが長尺子21aに沿ってスライドする。図2に示す構成の直動電動機21は、例えばブラシレスモータや誘導モータ等によって構成される。
In the configuration shown in FIG. 2, a large number of armatures 23 having coils (not shown) are arranged so as to line up in one direction, so that the elongated element 21a is formed in a shape extending along the direction in which the first member 11 extends. be. The short element 21b has a plurality of magnetic pole elements 24 arranged such that the N poles and the S poles are alternated. By supplying power to the armature 23, magnetic lines of force are generated that pass through the magnetic pole piece 24 and the short piece 21b, causing the short piece 21b to slide along the long piece 21a. The direct-acting motor 21 having the configuration shown in FIG. 2 is composed of, for example, a brushless motor, an induction motor, or the like.
一方、図3に示す構成では、長尺子21aは、N極とS極が互い違いになった状態で、一方向に多数の磁極子24が並んだ構成となる。短尺子21bは、コイルを有する複数の電機子23を有する構成となる。電機子23への給電により、磁極子24及び短尺子21bを通る磁力線Mが生じ、これにより短尺子21bが長尺子21aに沿ってスライドする。図3に示す構成の直動電動機21は、例えば、図略のブラシを通して給電する直流モータ等によって構成される。
On the other hand, in the configuration shown in FIG. 3, the elongated element 21a has a configuration in which a large number of magnetic pole elements 24 are arranged in one direction with the N poles and S poles alternated. The short element 21b is configured to have a plurality of armatures 23 having coils. By supplying power to the armature 23, magnetic lines of force M are generated that pass through the magnetic pole piece 24 and the short piece 21b, causing the short piece 21b to slide along the long piece 21a. The direct-acting motor 21 having the configuration shown in FIG. 3 is configured by, for example, a DC motor or the like that supplies power through brushes (not shown).
図1に戻る。図1に示すように、第2部材12には、固定部材27が固定されており、ロボット10には、この固定部材27と短尺子21bとを連結するリンク部材29が設けられている。
Return to Figure 1. As shown in FIG. 1, a fixed member 27 is fixed to the second member 12, and the robot 10 is provided with a link member 29 that connects the fixed member 27 and the short element 21b.
固定部材27は、関節部13の回転軸心13aから、回転軸心13aの半径方向に沿って延びる長尺部27aと、長尺部27aの径方向外端から回動方向に突出した突出部27bと、を一体的に有する部材によって構成されている。なお、長尺部27aは、回転軸心13aの半径方向に直線状に延びる形状に限られるものではなく、半径方向からそれるように曲がった形状に形成されていてもよい。この場合、突出部27bは省略されてもよい。また、長尺部27aが直線状に形成される場合においても、突出部27bが省略されてもよい。
The fixing member 27 includes a long portion 27a extending from the rotation axis 13a of the joint portion 13 along the radial direction of the rotation axis 13a, and a protruding portion protruding in the rotation direction from the radial outer end of the long portion 27a. 27b and are integrally formed. The elongated portion 27a is not limited to a shape extending linearly in the radial direction of the rotation axis 13a, and may be formed in a curved shape so as to deviate from the radial direction. In this case, the projecting portion 27b may be omitted. Moreover, even when the long portion 27a is formed in a straight line, the projecting portion 27b may be omitted.
リンク部材29は、直線状に延びる棒状の部材によって構成されており、リンク部材29の一端部(第2部材12側の端部である第2端部29b)は、固定部材27の突出部27bに回動可能に結合されている。すなわち、リンク部材29は間接的に第2部材12に結合されている。リンク部材29の他端部(第1部材11側の端部である第1端部29a)は、短尺子21bに回動可能に結合されている。なお、突出部27bが省略される場合には、リンク部材29の一端部は、固定部材27の長尺部27aに回動可能に結合される。
The link member 29 is configured by a rod-shaped member extending linearly, and one end of the link member 29 (second end 29b, which is the end on the second member 12 side) is the projecting portion 27b of the fixing member 27 . is rotatably coupled to the That is, the link member 29 is indirectly connected to the second member 12 . The other end of the link member 29 (first end 29a, which is the end on the first member 11 side) is rotatably coupled to the short member 21b. Note that if the projecting portion 27b is omitted, one end of the link member 29 is rotatably coupled to the elongated portion 27a of the fixing member 27. As shown in FIG.
ここで、ロボット10の動きについて、図4A~図4Cを参照しつつ、説明する。図4Aでは、12時の位置にある第1部材11では、長尺子21aの延長線が回転軸心13aに対して図の左側にずれており、第2部材12は、外端が長尺子21aの延長線に対して図の左側に位置する姿勢となっている(7時の位置)。このとき、短尺子21bは長尺子21aの内端部近傍に位置している。この状態で、長尺子21aに沿って短尺子21bを径方向の内側に移動させるように直動電動機21に電力供給が行われると、第1部材11と第2部材12のなす角度が180度に近くなる方向に、リンク部材29を介して第2部材12に関節部13回りのモーメントが生ずる。これにより、第2部材12は、図4Aの状態から反時計回りの方向に回動する。
Here, the motion of the robot 10 will be described with reference to FIGS. 4A to 4C. In FIG. 4A, in the first member 11 at the 12 o'clock position, the extension line of the long element 21a is shifted to the left side of the drawing with respect to the rotation axis 13a, and the outer end of the second member 12 is located at the long element 21a. (7 o'clock position). At this time, the short element 21b is positioned near the inner end of the long element 21a. In this state, when power is supplied to the linear motor 21 so as to move the short element 21b radially inward along the long element 21a, the angle formed by the first member 11 and the second member 12 is 180 degrees. A moment around the joint portion 13 is generated in the second member 12 via the link member 29 in the direction of approaching . As a result, the second member 12 rotates counterclockwise from the state shown in FIG. 4A.
短尺子21bが長尺子21aの内端に来たとき、第2部材12は第1部材11に対し約180度の方向となる。このとき、短尺子21bが径方向の外向きに移動するように、直動電動機21の電力供給が制御される。これにより、短尺子21bは長尺子21aに沿って径方向の外側に向けてスライドし始める。このときも第2部材12は反時計回りの方向に回動し続ける。短尺子21bがさらにスライドすると、第2部材12は図4Bに示す姿勢(4時の位置)及び図4Cに示す姿勢(2時の位置)を取り得る。このとき、リンク部材29の第2端部29bは、回転軸心13aを中心とする円周状の軌跡t1(図1参照)を描き、リンク部材29の第1端部29aは、長尺子21aに沿う直線状の軌跡t2(図1参照)を描く。つまり、長尺子21a、短尺子21b、固定部材27及びリンク部材29は、往復直線運動と円運動との間で運動を変換するクランク機構を構成している。
When the short element 21b reaches the inner end of the long element 21a, the second member 12 is oriented about 180 degrees with respect to the first member 11. At this time, the power supply of the linear motion motor 21 is controlled so that the short element 21b moves radially outward. As a result, the short element 21b begins to slide radially outward along the long element 21a. At this time as well, the second member 12 continues to rotate counterclockwise. When the short element 21b slides further, the second member 12 can take the posture shown in FIG. 4B (4 o'clock position) and the posture shown in FIG. 4C (2 o'clock position). At this time, the second end portion 29b of the link member 29 draws a circular locus t1 (see FIG. 1) centered on the rotation axis 13a, and the first end portion 29a of the link member 29 draw a linear trajectory t2 (see FIG. 1) along . That is, the long element 21a, the short element 21b, the fixing member 27, and the link member 29 constitute a crank mechanism that converts motion between reciprocating linear motion and circular motion.
以上説明したように、本実施形態では、第1部材11に配置された長尺子21aを有する直動電動機21に電力供給することによって、リンク部材29を介して第2部材12に関節部13回りのモーメントを生じさせて第1部材11及び第2部材12間の相対的な回動動作を生じさせる。このため、関節部13近傍で回転トルクを生じさせる構成に比べて、より小さなトルクで第1部材11及び第2部材12間の相対的な回動動作を生じさせることができる。しかも、直動電動機21が第1部材11に配置されていて、関節部13内に収容される構成ではないため、関節部13の大型化も回避できる。
As described above, in the present embodiment, power is supplied to the direct-acting electric motor 21 having the elongated member 21 a arranged on the first member 11 , so that the second member 12 rotates the joint portion 13 via the link member 29 . to produce a relative pivoting motion between the first member 11 and the second member 12 . Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion 13, relative rotational movement between the first member 11 and the second member 12 can be generated with a smaller torque. Moreover, since the direct-acting motor 21 is arranged in the first member 11 and is not housed in the joint portion 13, an increase in the size of the joint portion 13 can be avoided.
なお、図1に示すロボット10は、第2部材12に固定部材27が固定され、リンク部材29の第2端部29bが固定部材27に結合されているが、この構成に限られない。例えば、固定部材27が省略され、リンク部材29の第2端部29bは、第2部材12に直接的に結合されてもよい。
Although the robot 10 shown in FIG. 1 has the fixing member 27 fixed to the second member 12 and the second end 29b of the link member 29 is coupled to the fixing member 27, the configuration is not limited to this. For example, the fixing member 27 may be omitted and the second end 29b of the link member 29 may be directly coupled to the second member 12. FIG.
また、図5に示すように、固定部材27は、突出部27bから関節部13に近づく方向に延びる内向き延出部27cを備え、リンク部材29は、この内向き延出部27cの先端に回転可能に結合していてもよい。この場合、リンク部材29の第2端部29bが描く円周状の軌跡t1の半径を小さくできる。したがって、短尺子21bのスライド量に対する回動角度の比をより大きくできる。
As shown in FIG. 5, the fixing member 27 has an inwardly extending portion 27c extending from the projecting portion 27b toward the joint portion 13, and the link member 29 is provided at the tip of the inwardly extending portion 27c. They may be rotatably connected. In this case, the radius of the circular locus t1 drawn by the second end portion 29b of the link member 29 can be reduced. Therefore, the ratio of the rotation angle to the amount of sliding of the short element 21b can be increased.
なお、固定部材27が内向き延出部27cを有する構成に代え、突出部27bが長尺部27aの内端部又は内端部近傍から回動方向に突出した構成としてもよい。
Instead of the configuration in which the fixing member 27 has the inwardly extending portion 27c, a configuration in which the protruding portion 27b protrudes in the rotation direction from the inner end portion of the long portion 27a or the vicinity of the inner end portion may be employed.
(第2実施形態)
図6A~図6Cは第2実施形態を示す。尚、ここでは第1実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Second embodiment)
Figures 6A-6C show a second embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
図6A~図6Cは第2実施形態を示す。尚、ここでは第1実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Second embodiment)
Figures 6A-6C show a second embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
第1実施形態のロボット10では、固定部材27が、第2部材12に固定された部材によって構成されているのに対し、第2実施形態では、固定部材27が、第2部材12に設けられた第2直動電動機31の第2長尺子31aに固定された第2長尺子部材33として構成されている。第2長尺子部材33は、第2長尺子31aの延びる方向に交差する方向に延びている。
In the robot 10 of the first embodiment, the fixed member 27 is configured by a member fixed to the second member 12, whereas in the second embodiment, the fixed member 27 is provided on the second member 12. A second elongated member 33 fixed to a second elongated member 31 a of the second direct-acting motor 31 . The second long member 33 extends in a direction crossing the direction in which the second long member 31a extends.
第2直動電動機31は、第2部材12に固定された第2長尺子31aと、第2直動電動機31への電力供給に伴う電磁気力の作用によって第2長尺子31aに沿って移動する第2短尺子31bと、を有する。第2直動電動機31は、図1に示す直動電動機21と同様の構成であり、複数の電機子と複数の磁極子とを有する。
The second direct-acting motor 31 moves along the second elongated element 31a due to the action of the second elongated element 31a fixed to the second member 12 and the electromagnetic force accompanying the power supply to the second linear-acting motor 31. and a second short element 31b. The second linear motion motor 31 has the same configuration as the linear motion motor 21 shown in FIG. 1, and has a plurality of armatures and a plurality of magnetic poles.
直動電動機21の長尺子21aは、関節部13の回転軸心13aを通過するように、回転軸心13aの半径方向に延びるように配置されており、長尺子21aの一端には、第1長尺子部材35が固定されている。なお、長尺子21aは、その延長線が回転軸心13aからずれた位置を通るように配置されてもよく、この場合には第1長尺子部材35を省略してもよい。
The long element 21a of the linear motion motor 21 is arranged so as to extend in the radial direction of the rotation axis 13a so as to pass through the rotation axis 13a of the joint portion 13. At one end of the long element 21a, a first An elongated member 35 is fixed. The elongated element 21a may be arranged so that its extension line passes through a position shifted from the rotation axis 13a, and in this case, the first elongated element member 35 may be omitted.
第2長尺子31aも長尺子21aと同様の構成である。すなわち、第2長尺子31aは、回転軸心13aの半径方向に延びるように配置されており、第2長尺子31aの一端には、第2長尺子部材33が固定されている。なお、第2長尺子31aは、その延長線が回転軸心13aからずれた位置を通るように配置されてもよく、この場合には第2長尺子部材33を省略してもよい。
The second elongated element 31a also has the same configuration as the elongated element 21a. That is, the second long member 31a is arranged to extend in the radial direction of the rotation axis 13a, and the second long member 33 is fixed to one end of the second long member 31a. The second elongated member 31a may be arranged so that its extension line passes through a position shifted from the rotation axis 13a, and in this case, the second elongated member 33 may be omitted.
リンク部材29の第1端部29a(第1部材11側の端部)は、直動電動機21の短尺子21bに回動可能に結合され、リンク部材29の第2端部29b(第2部材12側の端部)は、第2長尺子部材33に回動可能に結合されている。リンク部材29の第1端部29aと短尺子21bとの結合位置は、短尺子21bのスライド時における変位軌跡t3の延長線が回転軸心13aからずれた位置を通るように配置されているが、変位軌跡t3の延長線が回転軸心13aを通るように配置されていてもよい。なお、リンク部材29の第2端部29bは、第2部材12に結合されてもよく、あるいは、第2直動電動機31の第2長尺子31aに結合されてもよい。第2端部29bは、第2長尺子31aの延長線からずれた位置に配置されているが、第2長尺子31aの延長線上に配置されていてもよい。
A first end 29a of the link member 29 (the end on the first member 11 side) is rotatably coupled to the short element 21b of the linear motion motor 21, and a second end 29b of the link member 29 (the second member 12 side) is rotatably coupled to the second elongated member 33 . The connecting position between the first end portion 29a of the link member 29 and the short element 21b is arranged so that the extension of the displacement locus t3 when the short element 21b is slid passes through a position shifted from the rotation axis 13a. , the extension of the displacement locus t3 may be arranged to pass through the rotation axis 13a. The second end portion 29 b of the link member 29 may be coupled to the second member 12 or may be coupled to the second elongated element 31 a of the second linear motion motor 31 . The second end portion 29b is arranged at a position shifted from the extension line of the second long element 31a, but may be arranged on the extension line of the second long element 31a.
第2実施形態のロボット10には、リンク部材29に加えて第2リンク部材37が設けられている。第2リンク部材37の一端部(第2部材12側の端部である第2端部37b)は、第2短尺子31bに回動可能に結合している。なお、第2リンク部材37の第2端部37bと第2短尺子31bとの結合位置は、第2短尺子31bのスライド時における変位軌跡t4の延長線が回転軸心13aからずれた位置を通るように配置されているが、変位軌跡t4の延長線が回転軸心13aを通るように配置されていてもよい。
A second link member 37 is provided in addition to the link member 29 in the robot 10 of the second embodiment. One end of the second link member 37 (second end 37b, which is the end on the second member 12 side) is rotatably coupled to the second short member 31b. The connecting position between the second end portion 37b of the second link member 37 and the second short element 31b is the position where the extension of the displacement locus t4 during sliding of the second short element 31b deviates from the rotation axis 13a. Although it is arranged so as to pass through, the extension line of the displacement locus t4 may be arranged so as to pass through the rotation axis 13a.
第2リンク部材37の他端部(第1部材11側の端部である第1端部37a)は、第1長尺子部材35に回動可能に結合している。なお、第2リンク部材37の第1端部37aは、第1部材11に結合されてもよく、あるいは、直動電動機21の長尺子21aに結合されてもよい。第1端部37aは、長尺子21aの延長線からずれた位置に配置されているが、長尺子21aの延長線上に配置されていてもよい。
The other end of the second link member 37 (the first end 37a that is the end on the first member 11 side) is rotatably coupled to the first long member 35 . The first end portion 37 a of the second link member 37 may be coupled to the first member 11 or may be coupled to the elongated member 21 a of the linear motion motor 21 . The first end portion 37a is arranged at a position shifted from the extension line of the long element 21a, but may be arranged on the extension line of the long element 21a.
直動電動機21と第2直動電動機31とは、連動している。すなわち、直動電動機21及び第2直動電動機31は、第1部材11及び第2部材12間の相対的な回動動作を行うときに、同時に駆動される。ただし、短尺子21bがスライド方向を反転させるタイミングと、第2短尺子31bがスライド方向を反転させるタイミングとは、互いにずれている。つまり、リンク部材29と第2長尺子部材33とが一直線となるタイミング(第2短尺子31bが死点を通過するタイミング)と、第2リンク部材37と第1長尺子部材35とが一直線となるタイミング(短尺子21bが死点を通過するタイミング)とは、互いにずれている。このため、リンク部材29及び第2リンク部材37の一方が死点となるときでも、関節部13回りのモーメントを継続して生じさせることができる。
The linear motion motor 21 and the second linear motion motor 31 are interlocked. That is, the linear motion motor 21 and the second linear motion motor 31 are driven simultaneously when the first member 11 and the second member 12 are relatively rotated. However, the timing at which the short element 21b reverses the sliding direction and the timing at which the second short element 31b reverses the sliding direction are different from each other. That is, the timing at which the link member 29 and the second long member 33 are aligned (the timing at which the second short member 31b passes through the dead center) and the timing at which the second link member 37 and the first long member 35 are aligned. (the timing at which the short element 21b passes through the dead center) is different from each other. Therefore, even when one of the link member 29 and the second link member 37 is dead center, the moment around the joint portion 13 can be continuously generated.
図6Aは、第1部材11と第2部材12とがほぼ一直線(約180度)となる状態を示しており、この状態から、第1部材11に対して第2部材12を折り曲げるときには、短尺子21b及び第2短尺子31bを関節部13から遠ざかる方向にスライドさせる。これにより、長尺子21a及び第2長尺子31aのなす角度が小さくなる方向に、第1部材11及び第2部材12に関節部13回りのモーメントが生じ、これにより、第1部材11及び第2部材12間の相対的な回動動作を生じる。そして、図6Bに示す姿勢となり、この姿勢からさらに回動すると、まず、第2リンク部材37と第1長尺子部材35とが直線状となるため、第2短尺子31bは死点の位置となる。このときも、リンク部材29と第2長尺子部材33とはまだ直線状になっていないため、引き続き、第1部材11及び第2部材12に関節部13回りのモーメントが生じる。したがって、第1部材11及び第2部材12間の相対的な回動動作が継続される。なお、第2直動電動機31は、第2リンク部材37及び第1長尺子部材35が一直線上になるタイミングで、第2短尺子31bのスライド方向を反転させるように電力制御されている。
FIG. 6A shows a state in which the first member 11 and the second member 12 are substantially aligned (approximately 180 degrees). The scale 21b and the second short scale 31b are slid away from the joint 13. As shown in FIG. As a result, a moment around the joint portion 13 is generated in the first member 11 and the second member 12 in the direction in which the angle formed by the elongated member 21a and the second elongated member 31a becomes smaller. A relative pivotal movement between the members 12 is produced. 6B. When the posture is further rotated from this posture, the second link member 37 and the first long member 35 first become straight, so that the second short member 31b is positioned at the dead point. Become. At this time as well, the link member 29 and the second elongated member 33 have not yet formed a straight line, so the first member 11 and the second member 12 continue to generate a moment around the joint portion 13 . Therefore, the relative rotational movement between the first member 11 and the second member 12 continues. The power of the second direct-acting motor 31 is controlled so that the sliding direction of the second short member 31b is reversed when the second link member 37 and the first long member 35 are aligned.
その後、第1部材11及び第2部材12間の相対的な回動動作が継続されると、次に、リンク部材29と第2長尺子部材33とが直線状となるため、短尺子21bは死点の位置となる。このとき、第2リンク部材37と第1長尺子部材35とは一直線状になっていないため、引き続き、第1部材11及び第2部材12に関節部13回りのモーメントが生じる。したがって、第1部材11及び第2部材12間の相対的な回動動作が継続される。なお、直動電動機21は、リンク部材29及び第2長尺子部材33が一直線上になるタイミングで、短尺子21bのスライド方向を反転させるように電力制御されている。そして、短尺子21b及び第2短尺子31bがそれぞれ関節部35に近づく方向にスライドすると、図6Cに示す姿勢となる。
After that, when the relative rotation between the first member 11 and the second member 12 is continued, the link member 29 and the second long member 33 are linearly formed, so that the short member 21b position of the dead point. At this time, since the second link member 37 and the first elongated member 35 are not aligned, a moment around the joint portion 13 is continuously generated in the first member 11 and the second member 12 . Therefore, the relative rotational movement between the first member 11 and the second member 12 continues. The power of the linear motion motor 21 is controlled so that the sliding direction of the short member 21b is reversed at the timing when the link member 29 and the second long member 33 are aligned. Then, when the short elements 21b and the second short elements 31b are slid toward the joints 35, they assume the posture shown in FIG. 6C.
第2実施形態では、直動電動機21及び第2直動電動機31を用いて第1部材11及び第2部材12間の相対的な回動動作を生じさせるため、各直動電動機21、31のトルクをより抑えることができ、直動電動機21をより小型化できる。
In the second embodiment, since the linear motion motor 21 and the second linear motion motor 31 are used to cause the relative rotational movement between the first member 11 and the second member 12, the linear motion motors 21 and 31 are Torque can be further suppressed, and the direct-acting motor 21 can be made more compact.
また、短尺子21bが死点を通過するタイミングと第2短尺子31bが死点を通過するタイミングとが互いにずれている。すなわち、短尺子21bが死点を通過するタイミングでは第2短尺子31bは死点の位置にない。また、第2短尺子31bが死点を通過するタイミングでは短尺子21bは死点の位置にない。このため、短尺子21bが死点の位置にある場合でも、リンク部材29を介した第1部材11及び第2部材12間の回動動作を継続でき、また、第2短尺子31bが死点の位置にある場合でも、第2リンク部材37を介した第1部材11及び第2部材12間の回動動作を継続できる。したがって、第1部材11及び第2部材12間の回動動作を一連の連続した動きにできる。
Also, the timing at which the short element 21b passes through the dead point and the timing at which the second short element 31b passes through the dead point are different from each other. That is, the second short element 31b is not at the dead point at the timing when the short element 21b passes through the dead center. Moreover, the short element 21b is not at the dead point at the timing when the second short element 31b passes through the dead point. Therefore, even when the short element 21b is at the dead point, the rotation operation between the first member 11 and the second member 12 via the link member 29 can be continued, and the second short element 31b is at the dead point. , the rotational movement between the first member 11 and the second member 12 via the second link member 37 can be continued. Therefore, the rotating motion between the first member 11 and the second member 12 can be a series of continuous motions.
(第3実施形態)
図7A及び図7Bは第3実施形態を示す。尚、ここでは第1実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Third embodiment)
7A and 7B show a third embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
図7A及び図7Bは第3実施形態を示す。尚、ここでは第1実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Third embodiment)
7A and 7B show a third embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
第3実施形態のロボット40は、第1直動電動機21と第2直動電動機31とリンク部材42とを備えている。第1直動電動機21は、第1部材11に固定された第1長尺子21aと、第1直動電動機21への電力供給に伴う電磁気力の作用によって第1長尺子21aに対して第1長尺子21aに沿って移動する第1短尺子21bと、を有する。第1直動電動機21は、図1に示す直動電動機21と同様の構成であり、複数の電機子23と複数の磁極子24とを有する。第1長尺子21aは、一方向に直線状に延びる形状であり、第1長尺子21aの延びる方向は、関節部13の回転軸心13aを通ってもよく、あるいは、回転軸心13aからずれていてもよい。
A robot 40 of the third embodiment includes a first linear motion motor 21, a second linear motion motor 31, and a link member 42. The first linear motion motor 21 is driven by a first elongated member 21 a fixed to the first member 11 and by the action of an electromagnetic force associated with power supply to the first linear motion motor 21 . and a first short element 21b that moves along the long element 21a. The first linear motion motor 21 has a configuration similar to that of the linear motion motor 21 shown in FIG. The first elongated element 21a has a shape extending linearly in one direction, and the direction in which the first elongated element 21a extends may pass through the rotation axis 13a of the joint section 13, or may deviate from the rotation axis 13a. may be
第2直動電動機31は、第2部材12に固定された第2長尺子31aと、第2直動電動機31への電力供給に伴う電磁気力の作用によって第2長尺子31aに対して第2長尺子31aに沿って移動する第2短尺子31bと、を有する。第2直動電動機31は、図1に示す直動電動機21と同様の構成であり、複数の電機子と複数の磁極子とを有する。第2長尺子31aは、一方向に直線状に延びる形状であり、第2長尺子31aの延びる方向は、関節部13の回転軸心13aを通ってもよく、あるいは、回転軸心13aからずれていてもよい。
The second linear motion motor 31 is driven by a second elongated member 31 a fixed to the second member 12 and by the action of the electromagnetic force associated with power supply to the second linear motion motor 31 . and a second short element 31b that moves along the long element 31a. The second linear motion motor 31 has the same configuration as the linear motion motor 21 shown in FIG. 1, and has a plurality of armatures and a plurality of magnetic poles. The second long element 31a has a shape that extends linearly in one direction, and the direction in which the second long element 31a extends may pass through the rotation axis 13a of the joint portion 13, or may deviate from the rotation axis 13a. may be
リンク部材42は、第1短尺子21bと第2短尺子31bとを互いに連結している。すなわち、リンク部材42の第1端部42a(第1部材11側の端部)は、第1短尺子21bに回動可能に結合され、リンク部材42の第2端部42b(第2部材12側の端部)は、第2短尺子31bに回動可能に結合されている。
The link member 42 connects the first short element 21b and the second short element 31b to each other. That is, the first end portion 42a of the link member 42 (the end portion on the first member 11 side) is rotatably coupled to the first short element 21b, and the second end portion 42b of the link member 42 (the second member 12 side end) is rotatably coupled to the second short element 31b.
第1直動電動機21と第2直動電動機31とは、連動している。すなわち、第1直動電動機21及び第2直動電動機31は、第1部材11及び第2部材12間の相対的な回動動作を行うときに、同時に駆動される。第1短尺子21b及び第2短尺子31bを関節部13から遠ざかる方向にスライドさせると、第1長尺子21a及び第2長尺子31aのなす角度が小さくなる方向に、第1部材11及び第2部材12に関節部13回りのモーメントが生じる。これにより、第1部材11及び第2部材12間の相対的な回動動作を生じ、図7Aに示す姿勢から図7Bに示す姿勢に変わる。
The first linear motion motor 21 and the second linear motion motor 31 are interlocked. That is, the first direct-acting motor 21 and the second direct-acting motor 31 are simultaneously driven when the first member 11 and the second member 12 perform the relative rotation motion. When the first short element 21b and the second short element 31b are slid in the direction away from the joint part 13, the first member 11 and the second long element 31a move in the direction of decreasing the angle formed by the first long element 21a and the second long element 31a. A moment around the joint portion 13 is generated in the member 12 . This causes a relative pivotal movement between the first member 11 and the second member 12, changing the posture shown in FIG. 7A to the posture shown in FIG. 7B.
一方、第1短尺子21b及び第2短尺子31bをそれぞれ関節部13に近づく方向にスライドさせると、第1長尺子21a及び第2長尺子31aのなす角度が大きくなる方向に、第1部材11及び第2部材12に関節部13回りのモーメントが生じる。これにより、第1部材11及び第2部材12間の相対的な回動動作を生じ、図7Bに示す姿勢から図7Aに示す姿勢に変わる。
On the other hand, when the first short element 21b and the second short element 31b are slid toward the joint portion 13, the first member 11 moves in the direction in which the angle formed by the first long element 21a and the second long element 31a increases. And a moment around the joint portion 13 is generated in the second member 12 . This causes a relative pivotal movement between the first member 11 and the second member 12, changing the posture shown in FIG. 7B to the posture shown in FIG. 7A.
第3実施形態では、第1直動電動機21及び第2直動電動機31に電力供給することによって、第1短尺子21b及び第2短尺子31bをスライドさせると、リンク部材42によって第1部材11及び第2部材12間の開き角度を変える力が作用し、これにより、第1部材11及び第2部材12間の相対的な回動動作を生じさせる。このため、関節部13近傍で回転トルクを生じさせる構成に比べて、より小さなトルクで第1部材11及び第2部材12間の相対的な回動動作を生じさせることができる。しかも、直動電動機21が第1部材11に配置されるとともに第2直動電動機31が第2部材12に配置されていて、2つの直動電動機21,31が関節部13内に収容される構成ではないため、関節部13の大型化も回避できる。
In the third embodiment, when power is supplied to the first linear motion motor 21 and the second linear motion motor 31 to slide the first short member 21b and the second short member 31b, the first member 11 is moved by the link member 42. A force acts to change the opening angle between and the second member 12 , thereby causing a relative pivotal movement between the first member 11 and the second member 12 . Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion 13, relative rotational movement between the first member 11 and the second member 12 can be generated with a smaller torque. Moreover, the linear motion motor 21 is arranged in the first member 11 and the second linear motion motor 31 is arranged in the second member 12, so that the two linear motion motors 21 and 31 are accommodated in the joint portion 13. Since it is not a structure, an increase in size of the joint portion 13 can be avoided.
なお、その他の構成、作用及び効果はその説明を省略するが、第1及び第2実施形態の説明を第3実施形態に援用することができる。
Although descriptions of other configurations, functions and effects are omitted, the descriptions of the first and second embodiments can be incorporated into the third embodiment.
(第4実施形態)
図8A及び図8Bは第4実施形態を示す。尚、ここでは第3実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Fourth embodiment)
Figures 8A and 8B show a fourth embodiment. Here, the same reference numerals are given to the same components as in the third embodiment, and detailed description thereof will be omitted.
図8A及び図8Bは第4実施形態を示す。尚、ここでは第3実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Fourth embodiment)
Figures 8A and 8B show a fourth embodiment. Here, the same reference numerals are given to the same components as in the third embodiment, and detailed description thereof will be omitted.
第3実施形態のロボット40では、第1長尺子21aが第1部材11に対して変位しないように第1部材11に固定されるとともに、第2長尺子31aが第2部材12に対して変位しないように第2部材12に固定されている。これに対し、第4実施形態のロボット40では、第1長尺子21aが第1部材11に対してスライド可能に配置されるとともに、第2長尺子31aが第2部材12に対してスライド可能に配置されている。つまり、第1長尺子21aは、第1長尺子21aの延設方向に変位可能に第1部材11に支持され、第2長尺子31aは、第2長尺子31aの延設方向に変位可能に第2部材12に支持されている。
In the robot 40 of the third embodiment, the first elongated element 21a is fixed to the first member 11 so as not to be displaced with respect to the first member 11, and the second elongated element 31a is displaced with respect to the second member 12. It is fixed to the second member 12 so that it does not. On the other hand, in the robot 40 of the fourth embodiment, the first long element 21a is arranged slidably with respect to the first member 11, and the second long element 31a is slidably arranged with respect to the second member 12. are placed. That is, the first long element 21a is supported by the first member 11 so as to be displaceable in the extending direction of the first long element 21a, and the second long element 31a is displaceable in the extending direction of the second long element 31a. It is supported by the second member 12 .
第1部材11には、第1長尺子21aが、第1長尺子21aの延設方向と直交する方向に移動しないようにしつつ第1長尺子21aの延設方向に移動することを許容する第1案内部45が設けられている。また、第2部材12には、第2長尺子31aが、第2長尺子31aの延設方向と直交する方向に移動しないようにしつつ第2長尺子31aの延設方向に移動することを許容する第2案内部46が設けられている。
The first member 11 has a first elongated member 21a that allows movement in the extending direction of the first elongated member 21a while preventing the first elongated member 21a from moving in a direction orthogonal to the extending direction of the first elongated member 21a. 1 guide 45 is provided. Further, the second member 12 allows the second long element 31a to move in the extending direction of the second long element 31a while preventing it from moving in the direction orthogonal to the extending direction of the second long element 31a. A second guide portion 46 is provided for.
第1長尺子21a及び第2長尺子31aは、長手方向に並ぶ複数の歯部21c、31cを有している。関節部13には、第1長尺子21aの複数の歯部21c及び第2長尺子31aの複数の歯部31cに噛み合うピニオン47が、回転軸心13aと同心状に設けられている。ピニオン47はフリーに回転可能に設けられている。
The first elongated element 21a and the second elongated element 31a have a plurality of teeth 21c, 31c arranged in the longitudinal direction. A pinion 47 that meshes with the teeth 21c of the first elongated element 21a and the teeth 31c of the second elongated element 31a is provided in the joint 13 so as to be concentric with the rotation axis 13a. The pinion 47 is freely rotatable.
第1短尺子21bには、第1短尺子21bを第1部材11に対して一時的に固定する第1短尺子ブレーキ49が設けられ、また、第2短尺子31bには、第2短尺子31bを第2部材12に対して一時的に固定する第2短尺子ブレーキ50が設けられている。すなわち、第1短尺子ブレーキ49は、第1短尺子21bを第1部材11に固定された状態と固定されない状態とを切り換え可能に構成されている。第2短尺子ブレーキ50は、第2短尺子31bを第2部材12に固定された状態と固定されない状態とを切り換え可能に構成されている。
The first short member 21b is provided with a first short member brake 49 for temporarily fixing the first short member 21b to the first member 11, and the second short member 31b is provided with a second short member. A second short member brake 50 is provided to temporarily fix 31b to the second member 12 . That is, the first short member brake 49 is configured to switch between a state in which the first short member 21b is fixed to the first member 11 and a state in which it is not fixed. The second short element brake 50 is configured to switch between a state in which the second short element 31b is fixed to the second member 12 and a state in which it is not fixed.
第1長尺子21aには、第1長尺子21aを第1部材11に対して一時的に固定する第1長尺子ブレーキ51が設けられ、また、第2長尺子31aには、第2長尺子31aを第2部材12に対して一時的に固定する第2長尺子ブレーキ52が設けられている。すなわち、第1長尺子ブレーキ51は、第1長尺子21aを第1部材11に固定された状態と固定されない状態とを切り換え可能に構成されている。第2長尺子ブレーキ52は、第2長尺子31aを第2部材12に固定された状態と固定されない状態とを切り換え可能に構成されている。
The first long piece 21a is provided with a first long piece brake 51 for temporarily fixing the first long piece 21a to the first member 11, and the second long piece 31a is provided with a second long piece. A second elongated brake 52 is provided to temporarily fix 31 a to the second member 12 . That is, the first elongated element brake 51 is configured to switch between a state in which the first elongated element 21 a is fixed to the first member 11 and a state in which it is not fixed. The second long element brake 52 is configured to switch between a state in which the second long element 31 a is fixed to the second member 12 and a state in which it is not fixed.
第1長尺子ブレーキ51が作動して第1長尺子21aが第1部材11に対して固定されるとともに第1短尺子ブレーキ49が作動せずに第1短尺子21bが第1部材11に対して固定されておらず、かつ、第2長尺子ブレーキ52が作動して第2長尺子31aが第2部材12に対して固定されるとともに第2短尺子ブレーキ50が作動せずに第2短尺子31bが第2部材12に対して固定されていない状態では、第4実施形態のロボット40は第3実施形態のロボット40と同じ動作を行う。このため、第1短尺子21b及び第2短尺子31bがそれぞれ関節部13から遠ざかる方向にスライドする場合には、図8A及び図8Bに示すように、第2部材12が第1部材11に対してより折れ曲がる方向に、第1部材11及び第2部材12間の相対的な回動動作が生ずる。
The first long element brake 51 operates to fix the first long element 21 a to the first member 11 , and the first short element brake 49 does not operate so that the first short element 21 b is fixed to the first member 11 . and the second long element brake 52 is actuated to fix the second long element 31a to the second member 12, and the second short element brake 50 is not actuated so that the second short element 31a is fixed to the second member 12. When the scale 31b is not fixed to the second member 12, the robot 40 of the fourth embodiment performs the same motion as the robot 40 of the third embodiment. Therefore, when the first short element 21b and the second short element 31b slide away from the joint 13, the second member 12 slides relative to the first member 11 as shown in FIGS. 8A and 8B. A relative pivotal movement between the first member 11 and the second member 12 occurs in the bending direction.
図8Aに示す状態において、第1短尺子ブレーキ49が作動するとともに第2短尺子ブレーキ50が作動する一方で、第1長尺子ブレーキ51及び第2長尺子ブレーキ52が作動しない状態に切り換えられると、第1短尺子21bが第1部材11に対して固定されるとともに、第2短尺子31bが第2部材12に対して固定され、また、第1長尺子21a及び第2長尺子31aはスライド可能な状態となる。この状態で、第1直動電動機21及び第2直動電動機31に電力が供給されると、第1長尺子21aが第1短尺子21b及び第1部材11に対してスライド移動するとともに、第2長尺子31aが第2短尺子31b及び第2部材12に対してスライド移動する。これに伴い、第1部材11及び第2部材12には、リンク部材42を介して、関節部13回りに回動するモーメントが発生する。例えば、第1長尺子21a及び第2長尺子31aがそれぞれ関節部13側(ピニオン47側)にスライドすると、第2短尺子31bをリンク部材42に押さえ付ける力が働く。したがって、その反力として、第2長尺子31aを図8Aの下向きに押す成分を含む力が発生する。このため、第2部材12は、図8Aの状態から時計回りに回動する。これにより、ロボット40は、図9に示す状態となる。このとき、第1長尺子21a及び第2長尺子31aが図8Aの状態に対してスライドしているため、第1短尺子21b及び第2短尺子31bの移動範囲が広がる。
In the state shown in FIG. 8A, when the first short element brake 49 operates and the second short element brake 50 operates, the first long element brake 51 and the second long element brake 52 are switched to a non-operating state. , the first short element 21b is fixed to the first member 11, the second short element 31b is fixed to the second member 12, and the first long element 21a and the second long element 31a are slidable. becomes possible. In this state, when power is supplied to the first linear motion motor 21 and the second linear motion motor 31, the first long member 21a slides relative to the first short member 21b and the first member 11, The second long element 31 a slides relative to the second short element 31 b and the second member 12 . Along with this, a moment is generated in the first member 11 and the second member 12 via the link member 42 to rotate around the joint portion 13 . For example, when the first long element 21a and the second long element 31a slide toward the joint portion 13 (the pinion 47 side), a force that presses the second short element 31b against the link member 42 acts. Therefore, as the reaction force, a force including a component that pushes the second long element 31a downward in FIG. 8A is generated. Therefore, the second member 12 rotates clockwise from the state shown in FIG. 8A. As a result, the robot 40 is in the state shown in FIG. At this time, since the first long element 21a and the second long element 31a are slid with respect to the state shown in FIG. 8A, the movement range of the first short element 21b and the second short element 31b is widened.
したがって、第4実施形態では、第1長尺子21aが長手方向にスライドするとともに第2長尺子31aが長手方向にスライドすることにより、第1短尺子21bの移動範囲を広げることができる。したがって、第1部材11及び第2部材12間の相対的な回動範囲を広げることができる。
Therefore, in the fourth embodiment, the movement range of the first short element 21b can be widened by sliding the first long element 21a in the longitudinal direction and sliding the second long element 31a in the longitudinal direction. Therefore, the relative rotation range between the first member 11 and the second member 12 can be widened.
なお、その他の構成、作用及び効果はその説明を省略するが、第1~第3実施形態の説明を第4実施形態に援用することができる。
Although descriptions of other configurations, actions and effects are omitted, the descriptions of the first to third embodiments can be incorporated into the fourth embodiment.
(第5実施形態)
図10A~図10Cは第5実施形態を示す。尚、ここでは第1実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Fifth embodiment)
10A-10C show a fifth embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
図10A~図10Cは第5実施形態を示す。尚、ここでは第1実施形態と同じ構成要素には同じ符号を付し、その詳細な説明を省略する。 (Fifth embodiment)
10A-10C show a fifth embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.
第3実施形態のロボット40では、第1短尺子21bと第2短尺子31bとがリンク部材42で互いに連結され、第1短尺子21b及び第2短尺子31bをスライドさせることによって、第2部材12に関節部13回りのモーメントを生じさせる。この動作は、第5実施形態のロボット60でも同様である。さらに、第5実施形態のロボット60では、第1直動電動機21の第1長尺子21aのスライドによって回動するピニオン62により、第2部材12に固定された回動部材64を回動させることによって、第1部材11及び第2部材12間の相対的な回動動作を生じさせることもできる。
In the robot 40 of the third embodiment, the first short element 21b and the second short element 31b are connected to each other by the link member 42, and the second member is moved by sliding the first short element 21b and the second short element 31b. 12 is caused to generate a moment around the joint portion 13 . This operation is the same for the robot 60 of the fifth embodiment. Furthermore, in the robot 60 of the fifth embodiment, the rotating member 64 fixed to the second member 12 is rotated by the pinion 62 rotated by sliding the first elongated member 21a of the first direct-acting motor 21. A relative pivotal movement between the first member 11 and the second member 12 can also be produced by .
具体的に、第1長尺子21aは、第3実施形態と異なり、第1部材11に固定されているわけではなく、第4実施形態と同様に、第1部材11に対して第1長尺子21aの延設方向にスライド可能に配置されている。そして、第1長尺子21aには、第1長尺子21aを第1部材11に対して一時的に固定する長尺子ブレーキ51が設けられている。また、第1長尺子21aには、延出方向に並ぶ複数の歯部21cが設けられている。一方、第1短尺子21bには、第1短尺子21bを第1部材11に対して一時的に固定する短尺子ブレーキ49が設けられている。
Specifically, unlike the third embodiment, the first elongated element 21a is not fixed to the first member 11, and the first elongated element 21a is attached to the first member 11 as in the fourth embodiment. It is arranged so as to be slidable in the extending direction of 21a. The first long piece 21 a is provided with a long piece brake 51 that temporarily fixes the first long piece 21 a to the first member 11 . Further, a plurality of teeth 21c arranged in the extending direction are provided on the first elongated member 21a. On the other hand, the first short member 21 b is provided with a short member brake 49 that temporarily fixes the first short member 21 b to the first member 11 .
第1部材11には、第1長尺子21aの歯部21cに噛み合うようにピニオン62が回転可能に設けられており、このピニオン62は、第1長尺子21aのスライドによって回転する。
A pinion 62 is rotatably provided on the first member 11 so as to mesh with the teeth 21c of the first elongated element 21a, and the pinion 62 rotates as the first elongated element 21a slides.
関節部13には、円弧状の外周部を有する回動部材64が設けられ、回動部材64の外周部には、ピニオン62に噛み合う歯部64aが形成されている。
A rotating member 64 having an arc-shaped outer peripheral portion is provided in the joint portion 13 , and a tooth portion 64 a that meshes with the pinion 62 is formed on the outer peripheral portion of the rotating member 64 .
したがって、短尺子ブレーキ49が作動し且つ長尺子ブレーキ51が作動していない状態で第1直動電動機21に電力が供給されると、第1長尺子21aが第1短尺子21bに対してスライドし、これに伴い、ピニオン62が回転する。なお、このとき、第2直動電動機31には給電しなくてよい。ピニオン62が回転すると、回動部材64が関節部13の回動軸心13a回りに回動するため、第2部材12は第1部材11に対して相対的に回動する。したがって、図10Aの状態から図10Bの状態に、第2部材12を回動させることができる。
Therefore, when power is supplied to the first direct-acting motor 21 with the short element brake 49 operating and the long element brake 51 not operating, the first long element 21a slides relative to the first short element 21b. As a result, the pinion 62 rotates. At this time, it is not necessary to supply power to the second direct-acting motor 31 . When the pinion 62 rotates, the rotating member 64 rotates about the rotation axis 13 a of the joint portion 13 , so that the second member 12 rotates relative to the first member 11 . Therefore, the second member 12 can be rotated from the state of FIG. 10A to the state of FIG. 10B.
一方、長尺子ブレーキ51が作動し且つ短尺子ブレーキ49が作動していない状態で第1直動電動機21及び第2直動電動機31に電力が供給されると、第1短尺子21bが第1長尺子21aに対してスライドするとともに、第2短尺子31bが第2長尺子31aに対してスライドする。この場合、第3実施形態と同様の原理で、第2部材12を第1部材11に対して相対的に回動させる。したがって、図10Aの状態から図10Cの状態に、第2部材12を回動させることができる。
On the other hand, when power is supplied to the first direct-acting motor 21 and the second direct-acting motor 31 in a state in which the long element brake 51 is actuated and the short element brake 49 is not actuated, the first short element 21b is actuated to the first position. While sliding relative to the long element 21a, the second short element 31b slides relative to the second long element 31a. In this case, the second member 12 is rotated relative to the first member 11 based on the same principle as in the third embodiment. Therefore, the second member 12 can be rotated from the state of FIG. 10A to the state of FIG. 10C.
第5実施形態では、第1短尺子21bが第1部材11に固定された状態で第1直動電動機21に電力が供給されたときには、ピニオン62及び回動部材64を介して第2部材12に関節部13回りのモーメントが生じて第1部材11及び第2部材12間の相対的な回動動作が生じる。また、第1長尺子21aが第1部材11に固定されるともに第1短尺子21bが固定されない状態で第1直動電動機21及び第2直動電動機31に電力が供給されると、第1短尺子21b及び第2短尺子31bのスライドによってリンク部材42を介して第2部材12に関節部13回りのモーメントが生じ、これにより第1部材11及び第2部材12間の相対的な回動動作が生じる。第1直動電動機21が第1部材11に配置されていて、関節部13内に収容される構成ではなく、また、第2直動電動機31が第2部材12に配置されていて、関節部13内に収容される構成ではないため、関節部13の大型化を回避できる。
In the fifth embodiment, when power is supplied to the first direct-acting motor 21 with the first short element 21 b fixed to the first member 11 , the second member 12 is driven through the pinion 62 and the rotating member 64 . A moment around the joint portion 13 is generated at this point, and a relative rotational movement between the first member 11 and the second member 12 is generated. Further, when power is supplied to the first direct-acting motor 21 and the second direct-acting motor 31 in a state in which the first long element 21a is fixed to the first member 11 and the first short element 21b is not fixed, the first A moment around the joint portion 13 is generated in the second member 12 via the link member 42 due to the sliding of the short member 21b and the second short member 31b. action occurs. The first linear motion motor 21 is arranged in the first member 11 and is not accommodated in the joint portion 13, and the second linear motion motor 31 is arranged in the second member 12 and is not accommodated in the joint portion. Since it is not configured to be accommodated within 13, an increase in size of the joint portion 13 can be avoided.
なお、その他の構成、作用及び効果はその説明を省略するが、第1及び第2実施形態の説明を第5実施形態に援用することができる。
Although descriptions of other configurations, functions and effects are omitted, the descriptions of the first and second embodiments can be incorporated into the fifth embodiment.
ここで、前記実施形態について概説する。
Here, the embodiment will be outlined.
前記の目的を達成するため、本発明は、第1部材と、第2部材と、前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、一方向に延びる形状であって前記第1部材に配置される長尺子と、前記長尺子に沿って移動可能な短尺子と、を有する直動電動機と、前記第2部材に対して回動可能に且つ前記第2部材に直接的又は間接的に結合する一端部と、前記短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、前記直動電動機への電力供給によって前記長尺子に対して前記短尺子を移動させることにより、前記リンク部材を介して前記第2部材に前記関節部回りのモーメントを生じさせ、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボットである。
In order to achieve the above objects, the present invention provides a first member, a second member, a joint portion that couples the first member and the second member so as to be able to rotate relative to each other, and a joint extending in one direction. a linear motion electric motor having a long member arranged on the first member and a short member movable along the long member; a link member having one end that is directly or indirectly coupled to the two members and the other end that is rotatably coupled to the short element; By moving the short member with respect to, a moment around the joint portion is generated in the second member via the link member, and a relative rotational movement between the first member and the second member It is a robot that creates
本発明では、第1部材に配置された長尺子を有する直動電動機に電力供給することによって、リンク部材を介して第2部材に関節部回りのモーメントを生じさせて第1部材及び第2部材間の相対的な回動動作を生じさせる。このため、関節部近傍で回転トルクを発生する構成に比べて、より小さなトルクで第1部材及び第2部材間の相対的な回動動作を生じさせることができる。しかも、直動電動機が第1部材に配置されていて、関節部内に収容される構成ではないため、関節部の大型化も回避できる。
In the present invention, by supplying power to the linear motion motor having the elongated element arranged in the first member, the second member is caused to generate a moment around the joint portion via the link member, thereby causing the first and second members to move. causing a relative pivoting motion between the Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion, it is possible to cause relative rotational movement between the first member and the second member with smaller torque. Moreover, since the direct-acting motor is arranged in the first member and is not housed in the joint portion, it is possible to avoid an increase in the size of the joint portion.
前記第2部材には、一方向に延びる形状の固定部材が固定されてもよい。この場合、前記リンク部材の前記一端部は、前記固定部材に回動可能に結合していてもよい。
A fixing member having a shape extending in one direction may be fixed to the second member. In this case, the one end of the link member may be rotatably coupled to the fixed member.
この態様では、リンク部材が、一方向に延びる形状の固定部材に回動可能に結合しているため、例えば、第2部材がアームとして構成されたロボットに好適となる。
In this aspect, since the link member is rotatably coupled to the fixed member extending in one direction, it is suitable for a robot in which the second member is configured as an arm, for example.
前記固定部材は、第2長尺子及び第2短尺子を有する第2直動電動機の前記第2長尺子によって構成されるか、前記第2長尺子に固定された第2長尺子部材によって構成されていてもよい。この場合、前記第2短尺子に回動可能に結合する一端部と、前記長尺子又は前記長尺子に固定された第1長尺子部材に回動可能に結合する他端部とを有する第2リンク部材が設けられ、前記直動電動機への電力供給によって、前記短尺子を前記長尺子に沿って移動させることにより、前記リンク部材を介して前記第2部材に前記関節部回りのモーメントを生じさせるとともに、前記第2直動電動機への電力供給によって、前記第2短尺子を前記第2長尺子に沿って移動させることにより、前記第2リンク部材を介して前記第1部材に前記関節部回りのモーメントを生じさせ、それによって、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせてもよい。
The fixed member is composed of the second long element of the second linear motion motor having a second long element and a second short element, or is composed of a second long element fixed to the second long element. may be In this case, the second terminal has one end rotatably connected to the second short element and the other end rotatably connected to the long element or the first long element member fixed to the long element. A link member is provided, and by moving the short member along the long member by supplying power to the linear motion motor, a moment around the joint portion is generated in the second member via the link member. and moving the second short element along the second long element by supplying power to the second direct-acting motor to move the joint portion to the first member via the second link member. A rotational moment may be induced thereby causing relative pivotal movement between the first member and the second member.
この態様では、直動電動機及び第2直動電動機を用いて第1部材及び第2部材間の相対的な回動動作を生じさせるため、各直動電動機のトルクをより抑えることができ、直動電動機をより小型化できる。
In this aspect, since the linear motion motor and the second linear motion motor are used to cause the relative rotational movement between the first member and the second member, the torque of each linear motion motor can be further suppressed, The dynamic motor can be made more compact.
前記短尺子が死点を通過するタイミングが、前記第2短尺子が死点を通過するタイミングからずれるように設定されていてもよい。
The timing at which the short element passes through the dead center may be set so as to deviate from the timing at which the second short element passes through the dead center.
この態様では、短尺子が死点を通過するタイミングでは第2短尺子は死点の位置にない。また、第2短尺子が死点を通過するタイミングでは短尺子は死点の位置にない。このため、短尺子が死点の位置にある場合でも、リンク部材を介した第1部材及び第2部材間の回動動作を継続でき、また、第2短尺子が死点の位置にある場合でも、第2リンク部材を介した第1部材及び第2部材間の回動動作を継続できる。したがって、第1部材及び第2部材間の回動動作を一連の連続した動きにできる。
In this aspect, the second short element is not at the dead point at the timing when the short element passes through the dead center. Also, the short element is not at the dead point at the timing when the second short element passes through the dead point. Therefore, even when the short member is at the dead center position, the rotation between the first member and the second member can be continued via the link member, and when the second short member is at the dead center position. However, the pivoting motion between the first member and the second member can be continued via the second link member. Therefore, the pivoting motion between the first member and the second member can be a series of continuous motions.
本発明は、第1部材と、第2部材と、前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、一方向に延びる形状の部位を有し前記第1部材に配置される第1長尺子と、前記第1長尺子における前記部位に沿って前記第1長尺子に対して相対的に移動可能な第1短尺子と、を有する第1直動電動機と、前記第2部材に沿って延びる部位を有する第2長尺子と、前記第2長尺子における前記部位に沿って前記第2長尺子に対して相対的に移動可能な第2短尺子と、を有する第2直動電動機と、前記第1短尺子に回動可能に結合する一端部と前記第2短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、前記第1直動電動機及び前記第2直動電動機への電力供給によって、前記第1短尺子が前記第1長尺子に対して相対移動するとともに前記第2短尺子が前記第2長尺子に対して相対移動することにより、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボットである。
The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a portion having a shape extending in one direction. A first linear motion motor having a first long element arranged on one member and a first short element relatively movable with respect to the first long element along the portion of the first long element a second long element having a portion extending along the second member; a second short element relatively movable with respect to the second long element along the portion of the second long element; and a link member having one end rotatably coupled to the first short element and the other end rotatably coupled to the second short element, wherein By supplying power to the first linear motion motor and the second linear motion motor, the first short member moves relative to the first long member, and the second short member moves relative to the second long member. It is a robot which produces relative rotation operation between said 1st member and said 2nd member by relative movement.
本発明では、第1直動電動機及び第2直動電動機に電力供給することによって、第1短尺子及び第2短尺子をスライドさせると、リンク部材によって第1部材及び第2部材間の開き角度を変える力が作用し、これにより、第1部材及び第2部材間の相対的な回動動作を生じさせる。このため、関節部近傍で回転トルクを生じさせる構成に比べて、より小さなトルクで第1部材及び第2部材間の相対的な回動動作を生じさせることができる。しかも、直動電動機が第1部材に配置されるとともに第2直動電動機が第2部材に配置されていて、2つの直動電動機が関節部内に収容される構成ではないため、関節部の大型化も回避できる。
In the present invention, when power is supplied to the first linear motion motor and the second linear motion motor to slide the first short member and the second short member, the opening angle between the first member and the second member is determined by the link member. A force acts to alter the , thereby causing relative pivotal movement between the first and second members. Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion, it is possible to generate relative rotational movement between the first member and the second member with smaller torque. Moreover, since the linear motion motor is arranged in the first member and the second linear motion motor is arranged in the second member, and the two linear motion motors are not housed in the joint portion, the joint portion is large. can also be avoided.
前記ロボットは、前記第1短尺子を前記第1部材に固定された状態と固定されていない状態とを切り換え可能な第1短尺子ブレーキと、前記第2短尺子を前記第2部材に固定された状態と固定されていない状態とを切り換え可能な第2短尺子ブレーキと、をさらに備えてもよい。この場合、前記第1長尺子は、前記第1長尺子の延設方向に変位可能に支持され、前記第2長尺子は、前記第2長尺子の延設方向に変位可能に支持されてもよい。
The robot includes a first short element brake capable of switching between a state in which the first short element is fixed to the first member and a state in which it is not fixed, and a state in which the second short element is fixed to the second member. A second short member brake capable of switching between a fixed state and a non-fixed state may be further provided. In this case, the first elongated element may be supported displaceably in the extending direction of the first elongated element, and the second elongated element may be displacedly supported in the extending direction of the second elongated element. good.
この態様では、第1長尺子が長手方向にスライドすると、それに応じて第1短尺子の移動範囲を広げることができ、また、第2長尺子が長手方向にスライドすると、それに応じて第2短尺子の移動範囲を広げることができる。したがって、第1部材及び第2部材間の相対的な回動範囲を広げることができる。
In this aspect, when the first long element slides in the longitudinal direction, the range of movement of the first short element can be expanded accordingly, and when the second long element slides in the longitudinal direction, the second short element can move accordingly. You can extend the movement range of the shakushi. Therefore, the relative rotation range between the first member and the second member can be widened.
前記第1長尺子及び前記第2長尺子は、長手方向に並ぶ複数の歯部を有しもよい。この場合、前記第1長尺子の前記複数の歯部及び前記第2長尺子の前記複数の歯部に噛み合うピニオンが設けられていてもよい。
The first elongated element and the second elongated element may have a plurality of teeth aligned in the longitudinal direction. In this case, a pinion meshing with the plurality of teeth of the first elongated element and the plurality of teeth of the second elongated element may be provided.
この態様では、第1部材に対する第1長尺子のスライド量と第2部材に対する第2長尺子のスライド量との関係をピニオンによって規定することができる。
In this aspect, the relationship between the amount of sliding of the first long element with respect to the first member and the amount of sliding of the second long element with respect to the second member can be defined by the pinion.
本発明は、第1部材と、第2部材と、前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、前記第1部材に配置される第1短尺子と、一方向に長い形状で且つ前記一方向に配列された複数の歯部を有し且つ前記第1部材に配置される第1長尺子と、を有し、前記第1短尺子及び前記台1短尺子間の相対的な移動が許容されている第1直動電動機と、前記第2部材に沿って延びる部位を有し前記第2部材に配置される第2長尺子と、前記第2長尺子における前記部位に沿って前記第2長尺子に対して相対的に移動可能な第2短尺子と、を有する第2直動電動機と、前記第1長尺子の前記複数の歯部に噛み合うように前記関節部に設けられ、前記第1長尺子の移動によって回転するピニオンと、前記ピニオンに噛み合う歯部を有するとともに前記第2部材に固定された回動部材と、前記第1長尺子に回動可能に結合する一端部と前記第2短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、前記第1短尺子が前記第1部材に固定された状態で前記第1直動電動機に電力が供給されたときには、前記第1長尺子を前記第1短尺子に対して移動させて、前記ピニオン及び前記回動部材を介して前記第2部材に前記関節部回りのモーメントを生じさせ、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせ、前記第1長尺子が前記第1部材に固定されるともに前記第2長尺子が前記第2部材に固定された状態で前記第1直動電動機及び第2直動電動機に電力が供給されたときには、前記第1短尺子を前記第1長尺子に対して移動させるとともに前記第2短尺子を前記第2長尺子に対して移動させて、前記リンク部材を介して前記第2部材に関節部回りのモーメントを生じさせて前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボットである。
The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a first short member arranged on the first member. and a first elongated element having a shape elongated in one direction and having a plurality of teeth arranged in the one direction and arranged on the first member, wherein the first short element and the base a first linear motion motor in which relative movement between one short element is allowed; a second long element having a portion extending along the second member and arranged on the second member; a second linear motor having a second short element that is relatively movable with respect to the second long element along the portion of the long element; and meshing with the plurality of teeth of the first long element. A pinion that is provided at the joint and rotates by movement of the first elongated element, a rotating member that has a tooth portion that meshes with the pinion and is fixed to the second member, and the first elongated element. a link member having one end rotatably coupled and the other end rotatably coupled to the second short element, wherein the first short element is fixed to the first member; When power is supplied to the first direct-acting motor, the first long member is moved with respect to the first short member, and the joint portion is moved to the second member via the pinion and the rotating member. creating a moment of rotation to create a relative pivoting motion between the first member and the second member, the first elongated member being fixed to the first member and the second elongated member being the When power is supplied to the first linear motion motor and the second linear motion motor while being fixed to the second member, the first short member is moved relative to the first long member and the second short member is moved. By moving the scale with respect to the second elongated member, a moment around the joint portion is generated in the second member via the link member, and the relative rotation between the first member and the second member is performed. It is a robot that produces motion.
本発明では、第1短尺子が第1部材に固定された状態で第1直動電動機に電力供給すると、ピニオン及び回動部材を介して第2部材に関節部回りのモーメントが生じて第1部材及び第2部材間の相対的な回動動作が生じる。また、第1長尺子が第1部材に固定されるともに第1短尺子が固定されない状態で第1直動電動機及び第2直動電動機に電力供給すると、第1短尺子及び第2短尺子のスライドにより、リンク部材を介して第2部材に関節部回りのモーメントが生じ、これにより第1部材及び第2部材間の相対的な回動動作が生じる。第1直動電動機が第1部材に配置されていて、関節部内に収容される構成ではなく、また、第2直動電動機が第2部材に配置されていて、関節部内に収容される構成ではないため、関節部の大型化を回避できる。
In the present invention, when power is supplied to the first direct-acting motor while the first short element is fixed to the first member, a moment around the joint portion is generated in the second member via the pinion and the rotating member, causing the first A relative pivotal movement between the member and the second member occurs. Further, when the first long element is fixed to the first member and the first short element is not fixed, power is supplied to the first linear motion motor and the second linear motion motor. The sliding causes the second member to generate a moment about the joint via the link member, thereby causing relative pivotal movement between the first member and the second member. In a configuration in which the first linear motion motor is arranged in the first member and housed in the joint portion, or in which the second linear motion motor is arranged in the second member and housed in the joint portion, Therefore, it is possible to avoid an increase in the size of the joint.
以上説明したように、より小さなトルクで第1部材及び第2部材間の相対的な回動を生じさせることができる。
As described above, it is possible to cause relative rotation between the first member and the second member with a smaller torque.
Claims (8)
- 第1部材と、
第2部材と、
前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、
一方向に延びる形状であって前記第1部材に配置される長尺子と、前記長尺子に沿って移動可能な短尺子と、を有する直動電動機と、
前記第2部材に対して回動可能に且つ前記第2部材に直接的又は間接的に結合する一端部と、前記短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、
前記直動電動機への電力供給によって前記長尺子に対して前記短尺子を移動させることにより、前記リンク部材を介して前記第2部材に前記関節部回りのモーメントを生じさせ、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボット。 a first member;
a second member;
a joint part that couples the first member and the second member so as to be relatively rotatable;
a linear motion motor having a long element extending in one direction and arranged on the first member; and a short element movable along the long element;
a link member having one end rotatably coupled to the second member and directly or indirectly coupled to the second member and the other end rotatably coupled to the short member; prepared,
By moving the short element with respect to the long element by supplying power to the linear motion motor, a moment around the joint portion is generated in the second member via the link member, and the first member and the A robot that causes a relative pivotal movement between the second members. - 請求項1に記載のロボットにおいて、
前記第2部材には、一方向に延びる形状の固定部材が固定され、
前記リンク部材の前記一端部は、前記固定部材に回動可能に結合している、ロボット。 The robot according to claim 1, wherein
A fixing member having a shape extending in one direction is fixed to the second member,
The robot, wherein the one end of the link member is rotatably coupled to the fixed member. - 請求項2に記載のロボットにおいて、
前記固定部材は、第2長尺子及び第2短尺子を有する第2直動電動機の前記第2長尺子によって構成されるか、前記第2長尺子に固定された第2長尺子部材によって構成されており、
前記第2短尺子に回動可能に結合する一端部と、前記長尺子又は前記長尺子に固定された第1長尺子部材に回動可能に結合する他端部とを有する第2リンク部材が設けられ、
前記直動電動機への電力供給によって、前記短尺子を前記長尺子に沿って移動させることにより、前記リンク部材を介して前記第2部材に前記関節部回りのモーメントを生じさせるとともに、前記第2直動電動機への電力供給によって、前記第2短尺子を前記第2長尺子に沿って移動させることにより、前記第2リンク部材を介して前記第1部材に前記関節部回りのモーメントを生じさせ、それによって、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボット。 The robot according to claim 2,
The fixed member is composed of the second long element of the second linear motion motor having a second long element and a second short element, or is composed of a second long element fixed to the second long element. and
a second link member having one end rotatably coupled to the second short member and the other end rotatably coupled to the long member or the first long member fixed to the long member; provided,
By moving the short element along the long element by supplying power to the linear motion motor, a moment around the joint portion is generated in the second member via the link member, and the second By moving the second short element along the second long element by supplying power to the linear motion motor, a moment around the joint portion is generated in the first member via the second link member. , thereby causing a relative pivotal movement between said first member and said second member. - 請求項3に記載のロボットにおいて、
前記短尺子が死点を通過するタイミングが、前記第2短尺子が死点を通過するタイミングからずれるように設定されている、ロボット。 The robot according to claim 3,
The robot, wherein the timing at which the short element passes through the dead point is set so as to deviate from the timing at which the second short element passes through the dead point. - 第1部材と、
第2部材と、
前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、
一方向に延びる形状の部位を有し前記第1部材に配置される第1長尺子と、前記第1長尺子における前記部位に沿って前記第1長尺子に対して相対的に移動可能な第1短尺子と、を有する第1直動電動機と、
前記第2部材に沿って延びる部位を有する第2長尺子と、前記第2長尺子における前記部位に沿って前記第2長尺子に対して相対的に移動可能な第2短尺子と、を有する第2直動電動機と、
前記第1短尺子に回動可能に結合する一端部と前記第2短尺子に回動可能に結合する他端部とを有するリンク部材と、を備え、
前記第1直動電動機及び前記第2直動電動機への電力供給によって、前記第1短尺子が前記第1長尺子に対して相対移動するとともに前記第2短尺子が前記第2長尺子に対して相対移動することにより、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボット。 a first member;
a second member;
a joint part that couples the first member and the second member so as to be relatively rotatable;
a first elongated member having a portion extending in one direction and arranged on the first member; a first direct-acting motor having a short element;
a second long element having a portion extending along the second member; and a second short element relatively movable with respect to the second long element along the portion of the second long element. a second linear motor;
a link member having one end rotatably coupled to the first short element and the other end rotatably coupled to the second short element,
By supplying power to the first linear motion motor and the second linear motion motor, the first short member moves relative to the first long member, and the second short member moves relative to the second long member. relative movement between the first member and the second member to produce a relative pivoting motion between the first member and the second member. - 請求項5に記載のロボットにおいて、
前記第1短尺子を前記第1部材に固定された状態と固定されていない状態とを切り換え可能な第1短尺子ブレーキと、
前記第2短尺子を前記第2部材に固定された状態と固定されていない状態とを切り換え可能な第2短尺子ブレーキと、をさらに備え、
前記第1長尺子は、前記第1長尺子の延設方向に変位可能に支持され、
前記第2長尺子は、前記第2長尺子の延設方向に変位可能に支持されている、ロボット。 The robot according to claim 5,
a first short member brake capable of switching between a state in which the first short member is fixed to the first member and a state in which it is not fixed;
a second short member brake capable of switching between a state in which the second short member is fixed to the second member and a state in which it is not fixed;
The first elongated element is supported displaceably in the extending direction of the first elongated element,
The robot, wherein the second elongated element is displaceably supported in an extending direction of the second elongated element. - 請求項6に記載のロボットにおいて、
前記第1長尺子及び前記第2長尺子は、長手方向に並ぶ複数の歯部を有し、
前記第1長尺子の前記複数の歯部及び前記第2長尺子の前記複数の歯部に噛み合うピニオンが設けられている、ロボット。 The robot according to claim 6,
The first elongated element and the second elongated element have a plurality of teeth aligned in the longitudinal direction,
A robot provided with a pinion that meshes with the plurality of teeth of the first elongated element and the plurality of teeth of the second elongated element. - 第1部材と、
第2部材と、
前記第1部材及び前記第2部材を互いに相対的に回動可能に結合する関節部と、
前記第1部材に配置される第1短尺子と、一方向に長い形状で且つ前記一方向に配列された複数の歯部を有し且つ前記第1部材に配置される第1長尺子と、を有し、前記第1短尺子及び前記台1短尺子間の相対的な移動が許容されている第1直動電動機と、
前記第2部材に沿って延びる部位を有し前記第2部材に配置される第2長尺子と、前記第2長尺子における前記部位に沿って前記第2長尺子に対して相対的に移動可能な第2短尺子と、を有する第2直動電動機と、
前記第1長尺子の前記複数の歯部に噛み合うように前記関節部に設けられ、前記第1長尺子の移動によって回転するピニオンと、
前記ピニオンに噛み合う歯部を有するとともに前記第2部材に固定された回動部材と、
前記第1長尺子に回動可能に結合する一端部と前記第2短尺子に回動可能に結合する他端部とを有するリンク部材と、
を備え、
前記第1短尺子が前記第1部材に固定された状態で前記第1直動電動機に電力が供給されたときには、前記第1長尺子を前記第1短尺子に対して移動させて、前記ピニオン及び前記回動部材を介して前記第2部材に前記関節部回りのモーメントを生じさせ、前記第1部材及び前記第2部材間の相対的な回動動作を生じさせ、
前記第1長尺子が前記第1部材に固定されるともに前記第2長尺子が前記第2部材に固定された状態で前記第1直動電動機及び第2直動電動機に電力が供給されたときには、前記第1短尺子を前記第1長尺子に対して移動させるとともに前記第2短尺子を前記第2長尺子に対して移動させて、前記リンク部材を介して前記第2部材に関節部回りのモーメントを生じさせて前記第1部材及び前記第2部材間の相対的な回動動作を生じさせる、ロボット。
a first member;
a second member;
a joint part that couples the first member and the second member so as to be relatively rotatable;
a first short element disposed on the first member; a first long element having a shape elongated in one direction and having a plurality of teeth arranged in the one direction and disposed on the first member; and allowing relative movement between the first short element and the base 1 short element;
a second elongated member having a portion extending along the second member and disposed on the second member; and a second elongated member movable along the portion of the second elongated member relative to the second elongated member. a second linear motor having a second short element;
a pinion provided at the joint so as to mesh with the plurality of teeth of the first elongated element and rotated by movement of the first elongated element;
a rotating member having a tooth portion meshing with the pinion and fixed to the second member;
a link member having one end rotatably coupled to the first long element and the other end rotatably coupled to the second short element;
with
When power is supplied to the first direct-acting motor while the first short element is fixed to the first member, the first long element is moved relative to the first short element to move the pinion. and causing the second member to generate a moment around the joint portion via the rotating member, thereby generating a relative rotating motion between the first member and the second member,
When electric power is supplied to the first direct-acting motor and the second direct-acting motor in a state in which the first elongated element is fixed to the first member and the second elongated element is fixed to the second member. and moving the first short element with respect to the first long element and moving the second short element with respect to the second long element, and moving the second member around the joint portion via the link member. to create a relative pivotal motion between the first member and the second member.
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JPS59166479A (en) * | 1983-03-11 | 1984-09-19 | 新明和工業株式会社 | Multi-joint robot |
WO2001060542A1 (en) * | 2000-02-17 | 2001-08-23 | Sanoh Kogyo Kabushiki Kaisha | Bending machine |
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JPS59166479A (en) * | 1983-03-11 | 1984-09-19 | 新明和工業株式会社 | Multi-joint robot |
WO2001060542A1 (en) * | 2000-02-17 | 2001-08-23 | Sanoh Kogyo Kabushiki Kaisha | Bending machine |
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